Simulation of an autonomous biped walking robot including environmental force interaction

This autonomous biped walking control system is based on the reactive force interaction at the foothold. The precise 3D (three dimensional) dynamic simulation pre?sented includes: 1) a posture controller which accommodate the physical constraints of the reactive force / torque on the foot by quadratic programming. 2) a real--time COM (center of mass) tracking controller for foot placement, with a discrete inverted pendulum model. 3) a 3D dynamic simulation scheme with precise contact with the environment. The proposed approach realizes the robust biped locomotion because the environmental interaction is directly controlled. The proposed method is applied to the 20 axes simulation model, and the stable biped locomotion with velocity of 0.25 m/sec and stepping time of 0.5 sec/step is realized