Basic study of control method on biped locomotion. Dynamic walking which utilizes the kick effect.

In the study of biped locomotion, human walking can be considered as an ideal model of biped locomotion. Natural human walking utilizes the gravity effect very skillfully and does not depend on the ankle torque of the supporting leg so much. From this point of view, we choose three manipulatable factors which have an important effect on biped locomotion: (1) step length, (2) the bending angle of the knee joint at landing, and (3) kick-action. We define the three indexes which represent the condition of walking as: (1) the time required for one step, (2) the mean walking velocity, (3) the ratio of the variation of the angular momentum. Then the relation between the three factors and the three indexes are examined through the computer simulation. In an experiment using walking robot, dynamic* walking with a kick-action is realized.