1P1-F06 Control of Two-Link-One-Motor Robot for dynamic walking by a link rotation : Improvement of control way for more stable one-step motion

Abstract

We are interesting of control 2-link-i-motor mechanism for locmotion. The locomotion of 2-link-i-motor mechanism is called "Dynamic walking by a link rotaion". We improved a control way and the robot can move even if initial condition is different. Then we realized 5 step locomotion continusly with a real machine. We report about the improved control way and the results of experiment.