Abstract
This paper discuss bipedal walking control based on human skills. Concretely, we focus on walking control described in words, for instance, “we shift our contact point with the ground further forward when we walk faster.” or “We accelerate the body by extending the kenee joint of supporting leg after the body's COG (center of gravity) passes over the supporting leg.” Replacing these rules by fuzzy rules, a model for bipedal walking control is proposed. In this paper, I analyze walking control by a inverted pendulum model. Using this model, well defined rules on extend force of the supporting leg, the landing point of the swing leg, and conditions for leg-support-exchange allow stable walking. The proposed system enables walking velocity control, walking direction control and height control of COG by using 13 rule tables concerned with above-mentioned conditions. Through computer simulations using ODE (Open Dynamics Engine), validity of proposed model is confirmed.
