An approach of hip motion compensation using laser range sensor for biped walking robot

This paper describes an optical sensing approach of gait compensation by using laser range finder for biped walking robot. Generally in the biped robot control, the response force information received from ground environment is one of important Indexes to realize stable gait generation. For fault tolerant and more reliable walking motion of the future, this paper focuses on the walking motion using the geometric relation between robots and floor environment without force sensor. That is, sole deformation is observed by laser range sensor mounted at the hip of robot, and is used for modifying the hip motion into more balanced direction by using the virtual impedance model. The validity of the proposed approach is confirmed by several experimental results.