Approach to biped robot control utilized redundancy in double support phase

This paper describes a biped walking control strategy in double support phase. The biped robot is controlled by a method which is usually used for controlling redundant manipulators. That is to say, the biped robot is regarded as a redundant manipulator under an assumption that the supporting leg is fixed to the floor. In this ease, the conventional control strategy of redundant manipulator is directly applied to that of biped robot. In particular, null space input is useful for the configuration control. Keeping the tip of manipulator reference at still stand, it is possible to determine the null space input to control configuration of the biped robot. By the above strategy, it is easy to control configuration of the biped robot. In this paper, we introduce a performance function that is useful for the null space input. Furthermore, performance indexes are defined to characterize the performance function.