3D fast walking simulation of biped robot by yaw axis moment compensation

摘要

The waist twisting is proposed to increase the walking speed without the arm swinging, and the control algorithm is verified by the 3D simulator ROCOS. The highest walking speed is increased from 3.6[km/h] with the arm swinging to 4.0 [km/h] with the waist twisting. The proposed control was also verified by the biped walking robot MARI-1.