Abstract
This paper describes a method of walking on rough terrain for a humanoid robot by using ZMP Criteria Map. ZMP Criteria Map is the criteria of ZMP (Zero Moment Point) trajectory modification made in advance by the walking pattern generation using the model of preview control. We classify the rough terrain into concavity and convexity, and propose a method to enable changing gait to stable walking pattern by modifying reference ZMP trajectory according to the map.
