Gait characteristics of speed variable biped walking robot

Minakata and Hori (1998) proposed a method for real-time variable speed biped walking. From experimental results using that method, we found that there is a suitable relationship between walking speed and step cycle time. Besides, this relationship (we call this the gait characteristic) is similar to that of human walking. We consider the reason for these characteristics. Walking stability at various speeds and cycles was simulated. We found that shorter step cycle is more stable in higher speed walking. Also we tried a walking experiment with human characteristics. Acceptable walking speed range becomes smaller than the case with a suitable parameter for our robot. In addition, a 2-link passive joint biped walking model is considered for energy saving walking. Touchdown impact force is simulated and examined by an experimental system. Various gait patterns are simulated and classified to 3 patterns. From computer simulation, pattern B is superior for reduction of touchdown impact.