Biped walking robot using a stick on uneven ground

摘要

Bipedal robots are able to move and walk in narrow spaces; however, it is difficult to make them walk on uneven terrain only by the use of their own mechanism. Multiped walking can be easily realized for walking on uneven terrain with the help of a stick. We propose a uneven terrain walking control strategy using a stick for a bipedal robot. The advantages of using a stick are that walking is more robust with good energy efficiency and the number of actuators does not increase.