Gait control of human and humanoid on irregular terrain considering interaction with environment

Humanoid is expected to move in various environments including outdoor. In the present condition, however, the humanoid can move only in known environment with little factor of disturbance, owing to poor ability to recognize the environment and the lack of robustness for disturbance. One of the solutions for these shortages is to refer to human´s strategy. Since human can walk on various environments with adapting to each situation, this approach can be effective. In this research we focus on a terrain whose surface is sunk by the load, such as the sands and the marshy place among real irregular terrain. The purpose of this research is to realize the humanoid´s walk suitable for such an irregular terrain by referring to the human´s walk strategy. To obtain the strategy, we measured the human´s walk. The measured data is floor reaction force, angle of joints, and COG position. We analyzed how human control a body to cope with disturbance. As it turned out, we obtained two main strategies, which were a statically stable walk (static walk) and ankle control for disturbance. By applying the human´s strategy to humanoid, we realized humanoid´s walk on irregular terrain in the simulation. Consequently, it was shown the effectiveness of the approach: measurement of human motion, strategy extraction and applying the human´s strategy to humanoid.