Biped locomotion strategy in humanoid robot navigation: A case of speed-up walk

This paper presents analysis to define efficient biped walking locomotion for contribution to the research in humanoid robot navigation. We focus in improvement of walking speed without changing the reduction-ratio at the joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. Analysis based on simulations and experiments utilizing biped humanoid robot Bonten-Maru II were conducted. In addition, analysis to define efficient joint trajectories and gait pattern were also performed. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot compared with current walking condition.