抄録
We examine the control method that doesn't use angular sensors of the thigh link in the leg of the six-legged robot. Concretely, an observer (Kalman Filter) is designed by using a mathematical model in which the inputs are the driving torque of the thigh links in the supporting legs and the outputs are the body height, pitching angle, and rolling angle. It is shown that the proposed control method controls the posture by using the state vector estimated by this observer, and the six-legged robot can achieve stable walking by the 3D simulations and the experiments.
