Abstract
This paper describes the development concept, control methods and experimental results on the stabilization and walking control of a unique biped robot. This walking robot constits of two legs, pivoted upper and lower bodies composed of four basic modules and double controlling arms suspended from the upper body. Each leg forms a single link and its sole is made up of a portion of a sphere. In order to stabilize the posture of the robot, a feedback control method based on the compound center of gravity among the bodies, the controlling arms and the legs was applied. Postural stability of the robot in the pitch and roll directions was realized. Furthermore, we succeeded in producing a walking motion by controlling the legs according to the posture of the robot.
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