Turning control of a biped locomotion robot using nonlinear oscillators

In our previous work, we developed a locomotion control system of a biped robot which is composed of nonlinear oscillators and realized a stable straight walk of the biped robot against the changes of the environments. Then, we revealed that the adaptability to the changes of the environments is realized as the straight walk results in the change of the period of the motions of the legs. In this paper, we realize a turning walk of the biped robot by using the developed locomotion control system. First, we provide analysis of the turning behavior of the biped robot and reveal that, in this case, the turning behavior leads to the change of the duty ratios of the legs. Moreover, we realize the task that the robot pursues a target on the floor moving along a corner and it demonstrates that the robot can turn a corner successfully in the real world.