抄録
The studies of 3D biped walkers driven by pneumatic artificial muscles have been capturing interest. However, these robots have not realized stable and long time walking. We suggest the feedback control method with swinging arms using a rate gyroscope for stabilizing behavior of the walking. First, we obtained ideal angle and angle rate of osillating motion in flontal plane by modeling the robot. Secound, we performed experiments using real robot with control of swinging arms and compared to the model. As a result, We verified that our control method was effective for stable walking.
