Du, ShucenShucenDuSchlattmann, JosefJosefSchlattmann2020-10-222020-10-222015Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015: 405-412 (2015)http://hdl.handle.net/11420/7642In the applications of simulator, accurate machining and soldering, a parallel hexapod can usually be found. However, it is still an innovative research object to implement this structure in a personal biped walking application. This article represents a realization of a walking mechanism implying parallel Hexapods as moving parts. Working principle and control structure are described in this work. To realize a stable and riding comfortable walking mechanism, the planning and control of stability is fatal. This aspect is inevitable tightly related to the pose recognition algorithm. To solve a forward kinematic problem (FKP) is always a difficulty in the recognition of pose. In this article, a method integrating MEMS inertial measurement units and lengths measurements is designed. With the force sensors, the center of pressure can also be confirmed. This fusion of sensory system is further to realize a steady and agile control of this biped walking robot.enTechnikConference Paper10.1142/9789814725248_0050Conference Paper