BIPEDAL WALKING ROBOT MOVED BY TELESCOPIC MOTION OF SUPPORT LEGS, AND METHOD OF CONTROLLING WALKING THEREOF

摘要

PROBLEM TO BE SOLVED: To provide a bipedal walking robot moved by telescopic motion of support legs, which carries out level-ground walking through a simple mechanism, copes with obstacle avoidance and uneven-ground walking, and essentially avoids a problem of a ZMP, to thereby achieve drastic improvement in walking speed compared with a conventional robot, and to provide a method of controlling walking of the robot.;SOLUTION: The bipedal walking robot is composed of: a pair of two slender legs 12 each having a foot portion 13 at a lower end thereof, that does not slip when making contact with a walking surface 1; a lumbar portion 14 connecting both the legs together in a manner alternately rotating the legs in a walking direction; telescopic motion actuators 16 for extending/contracting an upper portion of each leg, above the center of gravity; and a control device 20 for controlling the telescopic motion actuators. The bipedal walking robot carries out walking by alternately supporting a robot body with one of the legs as a support leg 12a while the other leg is held as a swing leg 12b. The control device 20 controls the legs such that while the swing leg 12b is kept contracted, the support leg 12a is extended and then contracted, to thereby alternately carry out the telescopic motion of the support legs, and in this manner mechanical energy is recovered by parameter oscillation by the support leg telescopic motion.;COPYRIGHT: (C)2007,JPO&INPIT