Position and Attitude Tracking Control for Toe Support Phase of Biped Walking Robot

Abstract

No paper has been published on the active use of the foot toe of the biped walking robots. In other words, the sole of the supporting leg is usually assumed to be completely contacted to the floor. To maintain this condition, the robot walking has a restriction such as the maximum walking speed limitation. If the point contact of the toe to the floor through walking is available, the variety of the walking can be realized. In this paper, a new control method for biped robots, in which the contact of the sole to the floor becomes a point contact, is proposed. The COM (Center of Mass) and swing leg can track the desired path and each heel joint angle can be controlled by the proposed controller while a biped walking robot is following a forward falling. Therefore the motion of the body has not to be limited to the quiet motion. The proposed method is verified by the simulation and experimental results with 6 joints DOF biped robot“Ken”.