Dynamical model of walking transition considering nonlinear friction with floor

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state, and it's like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and linecontacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.