REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD.

The purpose of this study is to accomplish 'Dynamic Walking' by a biped walking robot WL-10RD on a disturbance-free flat floor. Generally, one walking cycle is divided into two phases, a 'Single Support Phase' and a 'Change Over Phase'. We consider that 'Dynamic Walking' is defined as walking to which 'Dynamics' is applied on 'Both Phases'. We propose a dynamic walking control method as follows: walking in the single support phase is realized by a 'Program Control' using a 'Preset Walking Pattern', and that in the change over phase is achieved by a 'Sequence Control' changing 'Preset Torque and Mechanical Impedance' according to the conditions of this phase. As a result of experiments, complete dynamic walking was realized by a walking robot WL-10RD. The walking time is about 1. 5 seconds with a 40 cm step.