Dynamical Walk of Stilts Type Biped Locomotion

抄録

This paper deals with the motion of a stilts type biped locomotion which is not constrained to a plane (e.g. sagittal plane). This kind of biped, just like stilts, has no knees and no dimensions of the feet, therefore stepping must be continued repeatedly to maintain an upright balanced posture. In order to achieve stable walk, both feedforward and feedback control are utilized. By computing the required actuator torque from the equations of motion, the feedforward control produces the planned ideal motion. The feedback control makes the biped stable around the planned trajectory. On this principle, BIPER-3 control system was constructed and the stable walk has been realized.