Space robot. Control of Dynamic Biped Locomotion Based on Realtime Sensing of the Ground Profile.

摘要

In this paper, a realtime control of dynamic biped locomotion using sensor information is investigated. We adopted an ultrasonic range sensor mounted on the robot to measure the distance from the robot to the ground surface. During the walking control, the sensor data is converted into simple representation of the ground profile in realtime. We also developed a control architecture based on the Linear Inverted Pendulum Mode which we had proposed for dynamic walking control. Combining the sensory system and the control system enabled our biped robot, Meltran II, to walk over the ground of unknown profile successfully.