Abstract
This paper presents a foot system and a landing control method to achieve stable biped walking on rough terrain. It is important to realize the locomotion on such terrain, because biped robots are expected to assist human beings and have advantages in various fields with steps and obstacles. Proposed foot system, called point-contact type foot with springs, has stable contact states with complex ground surface and suppresses impact force at foot landing. Proposed landing controller adjusts a foot position and posture in response to a deviation between predicted ground surface and actual one without excessive impact force and torque. The reaction force and torque can be estimated in real-time. The effectiveness of proposed method is demonstrated by dynamics simulation and experimental results.
