Stable Gait Generation on a Low Friction Road Surface by Making Impact Posture Asymmetric

Abstract

This paper introduces the telescopic-legged model, which can generate stable walking gait on a low friction road surface by making asymmetric impact posture. First, we introduce an 8-DOF telescopic-legged model, and describe the equation of motion and design a control system. Second, we investigate the possibility of stable gait generation on a low friction road surface with changes the target control period and the impact posture. Third, we analyze the performance of the converged walking and the pattern of gait generation by changing impact posture. Finally, we discuss the results and future works.