３次元空間における二足ロボットの歩行制御

抄録

In recent years, research on walking of biped robots has been conducted in various places. Among them, a control system using a central pattern generator (CPG) has attracted much attention. However, most of the studies on walking control using CPGs are limited to two-dimensional space. In this study, we propose a walking control system for a biped robot in three-dimensional space that can immediately respond to changes in the environment. In this paper, as a preliminary step, we propose a control system based on a new CPG for a biped robot and verify whether periodic walking is possible. Two robot models, one based on the conventional CPG control system and the other based on the proposed control system, are created, and their robustness is compared and evaluated by simulation.