脚式ロボットの走行制御-動物の運動解析に基づく走行の実現

抄録

In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of kangaroo, time responses of four fundamental quantities are approximated by solutions of first or second order differential equations. Then we propose a control strategy of the robot which realizes these differential equations as controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.