Study on the lower level adaptive walking in sagittal plane by a biped locomotion robot.

摘要

Walking according to change of various environments is called an adaptive walking. We define the lower level adaptive walking as a walk consisted of only trajectory control and walk-patern generating. The purpose of this study is to realize the lower level adaptive walking in sagittal plane by a biped locomotion robot in indoor space.In this paper, we propose a simplified procedure of walk-pattern generation as follows that walk-patterns for various environments are generated by adjusting and combining the basic walk-patterns which are previously given for typical environments. Based on this idea, walking experiments are carried out for various environments. As a result, dynamic walking in flat plane (about 1.5 second per a step with 0.3 m), change of step width in walking and walk in various combined environments of flat plane, an obstacle as pipe and a stair (up, down) are realized.