抄録
This paper describes a method that calculates the compensatory trajectory of the waist based on preview control, and the mechanism of KBR-1R (Kanagawa Biped Robot 1-Refind). KBR-1R consists of 15 DOF such as 2 DOF in each ankle, 1 DOF in each knee, 3 DOF in each hip and 3 DOF in the waist. It is designed with a large movable range like a human. The waist motion calculated by the method cancels moments generated by the motion of the legs. In order to confirm the method, walking simulation is conducted using MATLAB/Simulink and Adams. Also, through walking experiments, the effectiveness of the control system and the mechanism confirmed.
