Abstract
The purpose of this study is to accomplish“Dynamic Walking”by a biped walking robot WL-10-RD on a disturbance-free flat floor. Generally, one walking cycle is divided into two phases, a“Single Support Phase”and a“Change Over Phase”.We consider that“Dynamic Walking”is defined as walking to which“Systen Dynamics”is applied on“Both Phases”.
We propose a dynamic walking control method as follows: walking in single support phase is rea-lized by“Program Control”using a“Preset Walking Pattern”and that in change over phase is achieved by“Sequence control”changing“Preset Torque and Mechanical Impedance Values”according to the conditions of this phase.
Practically, for the single support phase, the“Preset Walking Pattern”is designed so that the trajectory of“Zero Moment Point”on the floor plane, which is computed using“3-Dimensional Dynamic Simulation”, will be exirt inside the support sole's stable area. For the change over phase, which is divided into 4 phases, adequate values of torque and mechanical impedance on both ankles for each sub-phase are defined so that the“Center of Gravity”will chage support legs and will suppress an impact caused by floor contact.
As a result of experiments, complete dynamic walking was realized by a walking robot WL-10RD. The walking time is about 1.5 second with 40cm step.
