Mechanisms of biped humanoid robot and online walking pattern generation

This paper describes the mechanism of a biped humanoid robot, KBHR (Kanagawa Biped Robot-2), that has large moveable angles similar to humans'. The KBHR has 29 degrees of freedom (DOF) (two 6 DOF legs, a 3 DOF waist and two 7 DOF arms). Also, an online walking pattern generation method for a biped humanoid robot based on preview control is proposed. Depending on the walking parameters (step length, height, etc.), a pre-3-step pattern is created, and one step of the 3-step pattern is selected for one step of the robot. Using KBHR, various walking experiments are conducted, and the effectiveness of the mechanism and the online walking pattern generation method is confirmed.