Interactive control of environmental mode for biped walking

This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environment. Hence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.