A walking pattern generation for biped robot with parallel mechanism by considering contact force

This paper describes a walking pattern generation of a biped robot with parallel mechanism. By using the parallel mechanism, all actuators have been arranged on the upper part of the body. The biped robot which leg is applied to parallel linked structure can be composed of lightweight leg. Furthermore, the load torque of an actuator can be distributed. Therefore, the biped robot with parallel mechanism is suitable for walking. Such a biped robot can be regarded as 3 masses, that is body and two feet. State variables of three masses are defined in inertial space and these are represented by time polynomial equation. A walking pattern is expressed by larger order of polynomials rather than the order which decided according to boundary conditions. By representing this, the walking pattern with which an evaluation function is satisfied is generable. In this paper, the second power sum of contact force of the robot is evaluated into time polynomial equation. The proposed method is very high extendibility. These approach is that a robot can adapt itself to various environment.