Stable walking algorithm using tilting motion for a bipedal robot: Control of torso on 2-dimension plane of ZMP

The bipedal robot has a better mobility than the wheel based robot but, its structure is not stable basically. In various environments, it´s necessary that the center of the gravity moves properly to get flexible and efficient walking pattern for the walking stability. In this paper, walking trajectory function consistent with constrain in each joint is realized to generate flexible walking pattern and the flexibility, and stability of walking trajectory function are maximized through Acceleration/Deceleration control of each joint which consists of the robot links. Finally, applying the Tilting control, the study for improving walking stability was performed through the ZMP distribution calculated from the robot sensor on its sole.