Abstract
This is basic research on the attitude control of a human size robot which walks treading by toes. The purpose of this research is to perform more stable attitude control so that the robot cannot fall down treading by toes like a human. The human can keep a deep forward-bent posture by using toes. Thus we focus on toes as one of control methods of preventing the robot from falling down. As a method of attitude control, we used "ZMP". It is the most popular method of attitude control. The model we assume is about 110cm tall and weighs 2kg. The experiments on two patterns, "using toes" and "not using toes" were conducted, and the results between them were verified.
