1A1-Q08 Development of 3-D Passive Dynamic Biped Walker RWO3 and its Gait(Passive Walking Robot(1))

Abstract

Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific field, i.e., physics and biology. However there are few researches on the measurement of 3-D PDW gait, which reveals its mechanism precisely. This paper describes how to measure zero moment point (ZMP) and posture of a 3-D PDW. A unique flexible displacement sensor and a usual 6 axes force sensor are utilized for the measurement. As a result, we found that ZMP trajectory draws '8' shape, which was similar to that of human. Moreover the measurement system clarified the relationship between walking gait and ballast position which is effective for stabilization.