Sensor-based walking of human type biped robot that has 14 degree of freedoms

摘要

Walking robots are useful for uneven terrain where wheel or crawler is not suitable. The biped robot is a kind of walking robot which can be used in human-live environments. There are many research works on biped robots. Most of them use complex dynamic models of robots or prepared joint angle trajectories. In this paper, we propose a control method for human type biped robot which does not need complex dynamic model of the robot and prepared walking pattern. This control method is a combination of simple actions based on information obtained by many sensors. We show the experimental results which indicate ability of this method, here.