日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
高速2足走行システムACHIRESの開発
玉田 智樹五十嵐 渉米山 大揮田中 和仁山川 雄司妹尾 拓石川 正俊
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2015 年 33 巻 7 号 p. 482-489

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This paper presents a new method of realizing high-speed bipedal running with a high-speed robot using high-speed visual feedback. First, to achieve high-speed running with simple control, we developed a biped robot composed of lightweight high-torque actuators. Next we propose a control strategy which does not depend on typical methods based on a zero moment point, but instead modifies the robot's posture by high-speed visual feedback. In the strategy, by adding instantaneous high torque, we confirmed that the robot could execute running in the unbalanced region. We realized bipedal running at the speed corresponding to a Froude number of approximately 1.0, the highest reported value for non-birdlike bipedal robots.

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© 2015 日本ロボット学会
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