3D Dynamic Walking of Biped Robot by Controlling the Angular Momentum

摘要

A biped locomotion robot is expected to be very useful in indoor space designed for human locomotion. In order to achieve a smooth dynamic walking like a human being, it is very important to control a quantity which can represent the state of the biped system as a whole. In regard to biped locomotion systems, an angular momentum of the whole system can be considered as a good index, since it is a stable quantity, as seen from 'the law of the conservation of angular momentum.' A control method divided the walking into motions in the sagittal plane and in the lateral plane is adopted. For motion in the sagittal plane, we put the angular momentum close to the smooth reference function given in advance by controlling the ankle torque of supporting leg. For motion in the lateral plane, we treated the motion control as a regulator problem with two equilibrium states. The effectiveness of the proposed control method was examined by the experiments with our walking robot BLR-G2. The BLR-G2 achieved three-dimensional walking where the walking speed is 0.35m/s with stride length 35cm.