This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.
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