Stable walking of humanoid robot by using landing control in various environments

Ensuring stability is one of the most important themes of humanoid robot, because humanoid robot inherently suffers from instability. And the stable landing is the first step in various environments for the stable walking. However, it is difficult to obtain ground information in landing. So, we propose the stable walking of humanoid robot by using landing control in various environments. Landing control needs to satisfy constraints of dynamic stability, ground conditions and various feet motions to fit the each case in various environments. In most of the previous researches on landing control, robot equips foot with special mechanical equipments to obtain environment conditions. However in this paper, the various environments can be recognized with only FSRs (Force Sensing Resistors). The proposed method is evaluated through walking on an ascent with a 19 DOF (Degree of Freedom) biped robot model.