For the biped walking on the rough surface

the stability control algorithm is proposed.It consists of a walking pattern generation and a sensory feedback control algorithm.The PIPM (Passive Inverted Pendulum Model) is developed for the gait generation.The generated waling pattern enables the biped robot to have a more natural and efficient walking.The online feedback controller is developed to deal with the unevenness of the environments and the unknown disturbances.The controller consists of a body attitude control

a desired zero moment point (ZMP) control and a nonlinear landing control.The flexibility of the biped robot harms to the stability and control effect so badly that it makes the feedback control yield negative effects to the walking stability.Therefore

the influence of the biped robot's flexibility is considered into the design of the walking control.Finally

the walking experiment for the biped robot walking on the uneven surface confirms the effectiveness of the proposed algorithm.