抄録
This paper described the control method that didn't use angular sensors of the thigh link in the leg of the six-legged robot. Concretely, the amount of the state of robots was observed by the observer (Kalman filter) and applied to sliding mode control. Kalman Filter was 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 were the body height, pitch angle, and roll angle. 3D simulations by 3DCAD model and experiments were conducted, and the effectiveness of the sliding mode control was confirmed.
