This paper deals with the mechanical design, system integration, and dynamic walking algorithm of KIBO, an emotional biped humanoid robot that has a facial expression mechanism and various human-interactive devices. To emphasize the aesthetic features and marketability of KIBO, the mechanical design was performed after the exterior design stage to conform to all requirements, particularly constraints imposed by the external appearance and human-like link dimensions. For flexible biped walking, a walking pattern generator with variable walking parameters was developed. The walking pattern generator generates both a walking pattern and a corresponding reference zero-moment point (ZMP) pattern simultaneously. For stable biped walking, a walking control strategy using the ZMP and inertial sensor data was developed. In the strategy, we newly proposed a dual ZMP control approach and a posture control approach using an equivalent body inclination, which is calculated from the ZMP and inertial sensor data for robust walking on non-level ground. Finally, the hardware, software architecture, and dynamic walking performance of KIBO were verified through several walking experiments.
Online Biped Walking Pattern Generation with Contact Consistency
