Design and construction of a series of compact humanoid robots and development of biped walk control strategies

摘要

Design and construction of compact body humanoid robots and various biped locomotion control strategies implemented onto them in the ESYS humanoid project at the Engineering Systems Laboratory are presented. Design concepts and hardware specifications of the constructed compact size humanoid robots from Mk.1 to Mk.5 are discussed. As for the biped walk control, four biped locomotion control strategies all of which have various advantages such as versatility, high-energy efficiency; smooth loading on hardware, and real-time gait generation, are proposed. 3D biped dynamic walking of the constructed humanoids is realized by implementing the proposed biped control strategies onto them. Results of evaluation experiments on the proposed control strategies are reported.