Experimental approach for the biped walking robot MARI-1

We have developed the biped walking robot "MARI-1". The robot has light weight and 6 joints on each leg and all control calculation is done with a DSP. The walking pattern is made from the tip position and direction references in the X-Y-Z domain and those references are transformed into joint angle references by the inverse kinematics calculation. The position control of each joint is done with high gain P control. We try an open-loop type walking. As a result, the quasi-dynamic walking was confirmed by checking the position of the center of mass. Smooth walking and fast walking are also achieved with the proposed walking pattern.