抄録
Now, a bipedal robot is developed for the various purposes such as an analysis of the walking mechanism and the entertainment and then they are operated in the human society. Mostly the actuator used for these bipedal robots is an electric motor. We have developed a bipedal robot with compact pneumatic cylinders and with the high levels of structural flexibilities. The degree of freedom is 12. It is difficult that the robot with motor driving is operated quickly and flexibly, but it is possible that our robot does it by the advantage of the pneumatic system. In this research, we report result of carried out frequency response experiment for bipedal robot and estimate and consider about nominal model which used for control system design made by system identification.
