Construction of Experimental Environment and Motion Generation System for Walking in the Sagittal Plane of the Biped Robot CRANE

Abstract

Since it is not easy to incorporate the deflection of robot components and servo stiffness into the dynamics simulator, it is important to verify the motion control using not only the simulation but also the actual robot. In this paper, we constructed an experimental environment for walking in the sagittal plane of the biped robot CRANE, which has active degrees of freedom in the hip and knee joints and touches the road surface at points. We also report the development of a walking motion generation method based on the linear inverted pendulum mode.