Master-Slave Bipedal Walking on Steps

— A Method Using Ankle Force/Torque Sensor —

Abstract

This paper introduces a control method for master-slave biped robots to walk on steps. Our method is capable of dealing with the contact between a part of foot and a step. In our method, the target center-of-gravity position of the robot is determined by the command from the master devices. In addition, the target position is adjusted according to the attitude of the lifted foot. Our method is tested by a simulation of walking on a step.