Biped Walking Control Method Adapting to an Unknown Uneven Surface. Realization of Biped Walking Adapting to a Horizontally Unknown Uneven Surface.

摘要

As the first stage of the biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot. The authors developed a biped walking robot WL-12 R VI (Waseda Leg No. 12 Refined VI) that has an ability to detect the landing surface during dynamic walking. In this paper, as the second stage of the biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a horizontally unknown uneven surface. The authors performed walking experiments with the robot using the control method. As a result, dynamic biped walking adapting to a horizontally unknown uneven surface was realized. The maximum walking speed was 0.96[sec] per step with a 0.3[m] step length, and the adaptable step height deviation was from -12[mm] to 12[mm].