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Dynamic Walk of a Biped

Department of Mechanical Engineering Faculty of Engineering University of Tokyo Bunkyo-ku, Tokyo, 113 Japan

Isao Shimoyama

Department of Mechanical Engineering Faculty of Engineering University of Tokyo Bunkyo-ku, Tokyo, 113 Japan

The authors have developed five kinds of biped locomotive robots so far. They are named BIPER-1, 2, 3, 4, and 5. All of them are statically unstable but can perform a dynamically stable walk with suitable control. BIPER-1 and BIPER-2 walk only sideways. BIPER-3 is a stilt-type robot whose foot contacts occur at a point and who can walk sideways, back ward, and forward. BIPER-4's legs have the same degrees of freedom as human legs. BIPER-5 is similar to BIPER-3, but in the case of BIPER-5 all apparatus, such as the computer, are mounted on it.

This paper deals with the control theory used for BIPER-3 and BIPER-4. In both cases, basically the same control method is applied. The most important point is that the mo tion of either robot during the single-leg support phase can be approximated by the motion of an inverted pendulum. Ac cordingly, in this paper, dynamic walk is considered to be a series of inverted-pendulum motions with appropriate condi tions of connection.

The International Journal of Robotics Research, Vol. 3, No. 2, 60-74 (1984)
DOI: 10.1177/027836498400300206


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