Adaptive gait control of a biped robot based on realtime sensing of the ground profile
In this paper, realtime control of dynamic biped locomotion using sensor information is investigated. We used an ultrasonic range sensor mounted on the robot to measure the distance from the robot to the ground surface. During the walking control, the sensor data is converted into a simple representation of the ground profile in realtime. We also developed a control architecture based on the Linear Inverted Pendulum Mode which we proposed previously for dynamic walking control. Combining the sensory system and the control system enabled our biped robot, Meltran II, to walk over ground of unknown profile successfully.
biped robot biped locomotion walking robot