Gait Analysis and Biped Walking Stabilization on Soft Ground

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The objective of this research is to develop a walking stabilization control on a soft ground based on gait analysis for a humanoid robot. First we conducted gait analysis using a motion capture system on a soft ground. By analyzing experimental data, we obtained two findings. The first finding is that step height tends to increase to avoid tripping on a soft ground. The second finding is that although the vertical CoM amplitude increases on a soft ground, there are no significant differences in the lateral CoM trajectories. Based on these findings, we developed a walking stabilization control to stabilize the CoM motion in the lateral direction. Verification of the proposed control was conducted through experiments with a human-sized humanoid robotWABIAN-2R.