抄録
This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and the approximate 1-mass model in both planes is employed. In the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. The phase of dynamics derived by means of PDAC makes it possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.
