Motivation

Humans can not only stabilize the body which is apt to tilt over, but also walk on unstructured environment adaptively.

We want to reproduce this work in a humanoid robot.

Approach

The human's locomotion system is exceedingly complex because it has a lot of sensory information and degree of freedom.Therefore, at first, we try to know what is the basic mechanism to generate adaptive walking by simplifying the model of locomotion.

To construct the simple bipedal model, we refer to the quadruped locomotion because we evolved from quadruped such as monkey. After that, we implemented the constructed model to bipedal walking robot we developed, and we are trying to let our robot walk.