Effect of the Motion in Horizontal Plane on the Stability of Biped Walking
Ryoji Kodama, Toru Nogai and Katsumi Suzuki
Shizuoka Univeristy, 5-3 Johoku 3-chome, Hamamatsu, Shizuoka, 432 Japan
The human act of walking consists of 3-dimensional motion in the sagittal plane, frontal plane, and horizontal plane. However, in a lot of walking robots investigated by many researchers, motions were only considered in the sagittal plane or in the sagittal and frontal planes. If robot walking is modeled to real human walking, then motion in the horizontal plane should also be considered in robot walking. In this paper, our purpose is to investigate the effect of motion in the horizontal plane on biped walking robot. The authors study the effect using an inverse pendulum model. Firstly, we explain horizontal motion in human walking and analyze the walking motion of a robot model. The results of computer simulation are also presented.