History of Robotics Research and Development of Japan1997LocomotionDevelopment of a Biped Walking Robot Adapting to an Unknown Uneven Surface

Jinichi Yamaguchi	Waseda University
Noboru Kinoshita	Matsushita Electric Industrial Co., Ltd.
Atsuo Takanishi	Waseda University
Ichiro Kato	Waseda University

In this paper, the authors introduce a biped walking control method for a dapping to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. THe authors performed adaptive walking experiments with the robot using the control method. As a result, dynamic biped walking adapting to an unknown uneven surface was realized. The adaptable uneven surface's height range per one step walking was from -16 to +16[mm], and the adaptable angle of inclination range was from -3 to +3° at the maximum walking speed of 1.28[sec] per step with a 0.3[m] step length. 11th RSJ Best Paper Award in 1997

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