Development of a Biped Walking Robot Adapting to an Unkown Uneven Surface.

摘要

In this paper, the authors introduce a biped walking control method for adapting to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. The authors performed adaptive walking experiments with the robot using the control method. As a result, dynamic biped walking adapting to an unknown uneven surface was realized. The adaptable uneven surface's height range per one step walking was from -16 to +16 [mm], and the adaptable angle of inclination range was from -3 to +3° at the maximum walking speed of 1.28 [sec] per step with a 0.3 [m] step length.