Gait designing of biped robot according to human walking based on six-axis force sensors

This work is the part of the project of development of THBIP-I humanoid robot. The robot has been completed and can perform some slow static walks. The next stage is realizing the fast and dynamic walking. So the six-axis force sensors will be used to obtain the reaction force from the ground in order to implement the stably control. We designed a pair of shoes similar to the robot feet, so the human walker could wear them to walk like the robot (bending kneels, flat sole parallel the ground surface, cross the arms on the chest). According to these data of ground reaction force and ZMP trajectory, a kind of gait was designed for the robot and was implemented. There are two purposes. The first one is aimed at verifying the six-axis sensor system. The second one consists in looking for an effective gait designing method for dynamic walking. Through the walking experiments, it is proved that the sensor system works well and this kind of gait is more smoothly, less impulse and less ground reaction force. So we can design the gait of dynamic walking next stage.