Experimental approach for high speed walking of biped robot MARI-1

In this paper, a biped robot MARI-1 developed in our laboratory, which is light and for the purpose of fast walking, is introduced. The hardware including the robot frame, actuators, sensors, and control system are described. The method of walking pattern generation is presented. For the aim of fast walking, walking pattern modification with ZMP feedback, two control approaches of yaw-axis moment compensation by torso swing, are respectively discussed. The proposed approaches are experimentally confirmed and a walking speed 1.46[km/h] is achieved.