704 胴体つき二脚歩行ロボットの安定歩行制御(振動・音響・制御)
詳細
We have proposed a walking method by giving the planned path to the hip angle of the biped robot. The model of this robot is simple compasses type with torso and has two actuators at the hip. The planned path is composed of a cosine wave form. By the proposed method, the robot has succeeded in stable walking.
