We can get the gyro system of high resolution and high response frequency using a special filter called subtraction type of filter. Two composite gyros are used, one for detecting the angular velocity in pitch axis of the robot, and one for roll axis. An inclinometer is also equipped on the roll axis to obtain absolute zero stability of angle of inclination, and is also composed with gyros using anothor subtraction type of filter. Four force sensors are arranged in toe and two are located at the heel, then we can detect center of gravity stably whether the heel contacts with floor or not. We use 3 computers for controlling the robot.
Shared memories enable the computers to communicate various informations.
We improved the satability of walking by using dynamics of robot. We used belt conveyer for long time experiments. Now, we are studying sensor-based control method without fixed walking pattern.