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This paper describes a control method for a stable biped walking on uneven terrain. The walking contml consists of a position contml and a compliance contml. In order to realize dynamic walking on a human living environment, a biped locomotor is contmlled by the position contml based on a compensatory motion. Also. in this research, to reduce the magnitude of impact forces and f o guarantee a stabe Ianding on the gmund, the position-based virtual compliance contml is introduced. Several walking experiments on uneven terrain are conducted using WL-I5 (cvaseda and the effetiveness of the conml method is confirmed.

This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg -No.16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.

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