抄録
In this research, it paid attention to that system of stepping over the obstacle by biped robot same as HDS, where continuous and discrete event exist together. And it was made to return to optimal control problem after it had expressed by MLDS in consideration of various constraint conditions. In a general ZMP control, because it is necessary to consider the constraint condition and the optimality separately, it complicates by coexistence of two or more control theories. On the other hand, the stepping over excess of the obstacle with biped robot based on the hybrid control can systematically achieve optimum control because it can treat them in the same way. In this paper, it was shown that the stepping over excess of the obstacle with biped robot was able to return in optimal control problem, and the effect was confirmed by the simulation work.
