Master-Slave Bipedal Walking on Rough Terrain

— A Method Using Load Cells Mounted on Foot Soles —

Abstract

This paper proposes a rough terrain walking method for master-slave bipedal robots. This method uses load cells mounted on the foot soles to fit the attitude of the lifted foot to terrain. In addition, the desired trajectory of the center of gravity is generated from the positional relation between the feet to control the position of the center of gravity. The proposed method is validated through a realtime simulation environment involving haptic devices.