In this paper, we present vibration suppression and balance control algorithm for biped humanoid robots in the motion embedded CoM Jacobian. The vibration control is employed during a single supporting phase, which can suppress vibration induced by structure flexibility. Because the previously proposed walking control method in the whole body coordination (WBC) framework is based on the rigid b...

Muscle-tendon vibration has often been used to study the contribution of proprioception to kinesthesia and postural control. This technique is known to simulate the lengthening of the vibrated muscle and, in the presence of balance constraints, evoke compensatory postural responses. The objective of the present study was to clarify the consequences of this stimulation on the dynamic features of...