Gait Control for Redundant Legged Biped Robot at Constant Velocity and Constant Height of the Waist

摘要

In this paper, we propose a gait control method for redundant legged biped robot based on leg center of mass (COM) position control at constant velocity and constant height of the waist. The developed biped robot has redundant legs, which have four degrees of freedoms (DOFs) on each in the sagittal plane. The redundant DOF enables movement of its leg tip position and its leg COM position independently. Therefore, the proposed robot has structural capability to control the leg COM position for maintaining the projection of the total COM inside the support polygon without upper body motion. Such capability enables the stable static walk in the arbitrarily desired velocity and height of the waist motion. The validity of the proposed method for the static walk at constant velocity and constant height of the waist in the leg COM position control for redundant legged biped robot is confirmed by several results of simulation and experiment.