706 膝関節を有する二脚歩行ロボットの安定歩行制御(振動・音響・制御)
詳細
In this report, We propose the walking control method of biped robot with knee joint based on mechanical energy to stabilize walking. Firstly we introduce biped robot model and control method. And then we simulate the biped robot with knee by walking control and analyze simulation. we have ascertained by simulation that the biped robot with knee can have walked flat conditions by the walking control method.
