Abstract

This study is aimed at the development of biped humanoid robots walking and working in a human living space, with a focus on its physical construction and motion control method. In this paper, we present a follow-walking control method with a switching pattern technique for a biped humanoid robot. This method realizes a follow-walking motion by selecting and generating changeable unit patterns, based on an action model of robot-environment interaction. Using the control method, we have conducted hardware experiments that simulate dynamic walking, forward and backward walking and side-to-side walking while an external force is applied to the robot, and its effectiveness is verified.