2000 Volume 18 Issue 8 Pages 1122-1132
In general, when the robot is made to walk, it is necessary to make the walking pattern which is called gait. In making this walking pattern, a known walking surface is assumed. And, the walking pattern is made by using the inverted pendulum model or the ZMP (Zero moment Point) criterion, etc. to walk on the surface. However, because unknown disturbance like unevenness etc. of surface exists actually even if the joint of robot is controlled to track to the walking pattern precisely, walking becomes unstable. It is described to be able to achieve a steady walking by adding the controller which regulates the walking pattern disturbed by an unknown uneven surface etc. to the joint servo system which tracks to the walking pattern in this paper. Moreover, it is shown to be able to derive the controller by the optimal regulator theory. Finally, this stabilizing control was installed in the biped walking robot and the result of the walking experiment of 3 kilometers an hour is described.
