Gait characteristics of speed variable biped walking robot

Few years ago, one of the author of this paper has proposed a method for real-time variable speed biped walking. From the experimental result using that method, we found that there is a suitable relationship between walking speed and step cycle time. Besides, this relationship (we call this as gait characteristics in the following) is similar to that of human walking. In this paper, we considered the reason of this characteristics. Walking stability on various speed and cycle as simulated. We found that shorter step cycle is more stable on faster speed walking. Also we tried walking experiment with characteristics. Acceptable walking speed range becomes smaller than the case with suitable parameter for our robot. In addition, 2-link passive joint biped walking model is considered for energy saving walking. Touchdown impact force is simulated and examined by experimental system. Various gait pattern is simulated turn classified to 3 patterns. From computer simulation, pattern B is superior for reduction of touchdown impact.