抄録
This paper describes a control technique that can prevent the robot from losing balance due to a immediate acceleration by controlling only the acceleration and the posture of the upper-body of the robot. As the proposed technique controls the balance by measuring the upper-body's angle and angular velocity, it can be implemented independently from the main control system of the robot to be applied for various types of robots. To confirm the effectiveness of the proposed technique, we ran experiments via simulation, and on an actual robot.
