抄録
We are studying on the influence of the state transition of touch ground on the biped robot walking. We have been developed a small humanoid robot "Dynamo" for the RoboCup. "Dynamo" can walk stable and fast relatively. However, in the RoboCup2010 Singapore, the robot can not walk stably because the field is slippery. Then, we found the robot can walk stably if the sole angle is changed in trial and error. In this paper, we analyze the influence of the sole angle and discuss why the angle is important for the stable walking. Then, we propose a walking method and confirm its effectiveness through the experiments with the humanoid robot "Dynamo".
