Stabilization of Biped Locomotion Utilizing Compensation in Double-Supporting Phase

摘要

A gait generation method for biped robots that realizes stabilization of the single-supporting phase by taking advantage of robustness of the double-supporting phase is developed. Considering these points, the proposed method utilizes the double-supporting phase to eliminate disturbances that are caused by ground condition and/or other factors affecting stability of biped locomotion. In our method, ample stability margin in the double-supporting phase is also exploited to realize the angular momentum that is required by the next single-supporting phase. The proposed method can achieve more stable continuous walk due to these features. In this paper, the proposed gait generation method is explained in detail and some results of experiments using originally developed humanoid robot are reported.