Three dimensional digital simulation and autonomous walking control for eight-axis biped robot

First, the three dimensional precise simulation method for biped robot has been proposed, which is the extension of the open link manipulator simulation method and the contact simulation method of rigid body mechanics. The proposed simulation model can be said to be mathematically exact, thus this approach enables the essential investigation for control algorithms of biped locomotion. This approach has advantages in the less cost compared with the experimental demonstration. Second, the autonomous walking control with hierarchical structure has been proposed in which three dimensional inverted pendulum model is considered as the motion of gravity center, and the tip position of nonsupport leg are controlled autonomously. Both of references can be simultaneously transformed to the joint space reference, then they are accurately realized by the robust-servo controller. Third, the proposed walking control is investigated by the proposed simulation method, and the stable walking motion is confirmed.