リズムに基づく動的二足歩行運動制御

抄録

It is pointed out that the locomotion rhythm plays an important role in generation of the periodic motion such as walking successfully. This paper is concerned with a control strategy for generating the regular locomotion rhythm. The method has two features : one is that the locomotion rhythm is determined by specifying the reference trajectory and some time data on it, and then the trajectory following servo realizes the walking motion according to the determined rhythm. The other is that the kicking motion is utilized for generating the regular rhythm so that the kinetic energy loss caused by the collision between the swing leg and a floor is compensated. From the experimental results of our new biped locomotion robot SR-4, it is confirmed that the proposed method is useful for generating the regular locomotion rhythm.