粘着質の路面を横断する脚型ロボットのための歩行システムの開発

抄録

Biped robots are expected to work instead of humans in the future. However, when a biped robot walks on a rough road, the robot's legs may lose balance as the legs slip or are taken off the ground by the effect of the walking surface. At this time, the robot falls down in the worst case. Therefore, adaptation to the walking surface is an important issue for biped robots to continue stable walking. This study proposes a method to continue walking in an indoor environment when the robots are forced to walk on a surface where there is a possibility of falling. The proposed method is composed of three points. The state of the robot is estimated by combining the estimation of the walking surface and determining the continuous of walking motion, and the robot continues walking by switching to countermeasure motion.