1P1-S03 Study on the Influence of State Transition of Touch Ground on a Biped Robot Walking : 3rd Report: Relation between the Roll Angle of Ankle Joint and Walking Behavior(RoboCup and Robot Contest)

Abstract

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 "Accelite" for the RoboCup. It 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 the previous study, we analyze the influence of the sole angle and discuss why the angle is important for the stable walking. In this paper, we measure the transition of touch ground and the trajectory of the center of gravity. Then, we analyze the behavior of the walking.