# Biped v6.0 - A quasi passive bipedal walker
## Control method
- Time-based scheduling (Periodic pendulam of motorized limbs)
- Weak auto-ballance (Adaptive control for target angle of servomotors)
## Actuators
- Servomotor (shoulder, hip, knee, and ankle joint)
## Sensors
- Tilt sensor ("angle" of upper body)
- Rotary encoder ("angle" of thigh, shin/calf, and foot)
## Unused sensors
- Ground Reaction Force (GRF) sensor (heel and ball of the foot)
## Note
- The GRF sensor is equipped on the sole of the foot, but unused.
- Red, green and blue laser rays show the angle of thigh and upper body.
