抄録
The combined control method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control has been proposed. The combined control has the adaptability to the change of environment with CPG. Moreover using the control method, it has been confirmed that walking speed is changed according to the desired angle of torso. Therefore based on the result, this study aims to propose the desired velocity tracking control of biped locomotion by changing the torso angle according to the difference between the walking speed and the desired speed. In this paper, computer simulations were carried out to verify the performance of velocity tracking. From the result, the effectiveness of this method was confirmed.
