BIPED LOCOMOTION ROBOT AND WALKING CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a biped locomotion robot which can walk on a flatland, adapt to obstacle avoidance and walking on an irregular land, and improve a remarkable walking speed compared to the conventional one by essentially avoiding the problem of ZMP, and its walking control method.;SOLUTION: The biped locomotion robot is equipped with a pair of slender legs 12 having a foot 13 which contacts with a walking surface 1 and does not slip on its lower end, a lumber 14 which oscillatably connects the pair of legs alternately in the walking direction, a telescopic actuator 16 expanding and contracting the upper part than the center of gravity of each leg, and a control device 20 controlling the telescopic actuator, and walks while alternately supporting with one leg by making one side of the legs a support leg 12a, and other side of legs an idling leg 12b. The support leg 12a is held in an extended state, and the idling leg 12b is shortly expanded and contracted than the support leg 12b with the control device 20, and mechanical energy is recovered by parameter excitation.;COPYRIGHT: (C)2006,JPO&NCIPI