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INTRODUCTIONCurrent humanoid robots usully have high reduction geared motors, so that soft landing and stabilization control are very important. A 6-axis force sensor and gyro sensor are utilized for stabilization, but precise control requires landing area information. We have developed our humanoid robot H7 and successfully walk online on the flat floor or stair. However, on uneven surface, tactile information is becoming important to control landing shock absorption and balance control. We are working on a footstep planning technique in uneven surface[1], but it is also vital to achieve by real sensor and control system. As for human being walk, it has about 0.4 -0.6[s] cycle. COP motion for typical male subject (170[cm] tall) are as follows : average velocity is about 60[cm/s], travel length

For environmental noise prediction, it is practicable to use meteorological data available from local meteorological observatories. However, these observations have limitations induced by the methods of measuring and data processing. Usually only mean meteorological values averaged over one 10 min period every hour are calculated. To apply these mean meteorological variables to noise propagation appropriately, we need to investigate the characteristics of both acoustic and meteorological parameters within the 10 min period. We made simultaneous measurements of both parameters over flat grass-covered ground and estimated effective sound speed profiles by similarity theory, using the meteorological data measured under conditions similar to those at local observatories. The changes in sound pressure level in periods around sunrise and sunset were similar and were smaller than those around culmination, in which fluctuations of approximately 20 dB were measured at higher frequencies at a distance of 100 m. Noise predictions by the parabolic equation method and sound speed profiles determined from instantaneous meteorological variations generally agreed with the measurements except in the time period around culmination. When we used 10 min mean meteorological values in combination with the parabolic equation method, we obtained reasonable agreement with the measurements at middle frequencies in time periods around sunrise and sunset.