Proceedings of the Japan Joint Automatic Control Conference
Proceedings of the 51th Japan Joint Automatic Control Conference
Session ID : 314
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Host: SICE, ISCIE, JSME, SCEJ, JSPE, JSASS

Humanoid Robot
Walking Method and Control of a Small-Sized Humanoid Robot.
*So Kato, Shigenori Okubo
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Keywords: biped locomotion robot, walking method, singular configuration
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Abstract

In this paper, we describes a knee stretch walking for the biped small-sized robot with servo motors. This biped robot have 1-DOF in spine roll-axis and 2-DOF in each knee. The singular configuration of the robot often is a problem . In addition, the biped robot has to walk near-naturally. By using this mechanism, evasion of a singular configuration and a knee stretch walking can be achieved.

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