PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment
Tadayoshi Aoyama*, Kosuke Sekiyama*,
Yasuhisa Hasegawa**, and Toshio Fukuda*
*Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
**Department Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tenodai, Tsukuba 305-8573, Japan
This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.
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