Realtime speed-changeable biped walking by controlling the parameter of virtual inverted pendulum

We propose a novel simple control technique of biped walking robot. Our method is based on the following two points: (1) application of robust servo controller to each axis actuator, and (2) control of the parameter of virtual inverted pendulum. We confirm that above two points are effective enough in varying the walking speed of the robot in real-time by using computer simulation. Besides, we propose a "bird-like" walking for biped robot. This gait isn't an imitation of human gait, and is effective for biped robot with heavy legs. We construct a biped robot "M-I" and confirm that he can vary his walking speed in real-time, according to our remote control command.<>