Development of A Bipedal Humanoid Robot 'Wabian' - Control Method of Whole Body Cooperative Dynamic Biped Walking Compensating For Three-Axis Moment by trunk Notion

摘要

Many studies about biped walking robots and control methods for biped walking have been conducted in recent years [1]-[5]. At Waseda University, studies about biped walking robots have been done since 1966, and biped walkingrobots that have anthropomorphic forms have been pursued. As a result, dynamic complete waling[6], dynamic walking under an unknown external force[7], dynamic turn[8], and dynamic walking adapting to an unknown uneven surface[9] etc. were realized.