抄録
Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Walking speed 391mm/s is derived until now. However, the speed about 450mm/s is achieved by trial and error in practice. The maximum speed derived by control theory is much lower than the practical one due to the constraints given to the target trajectory. To examine the effect of the constraints and the kinematic parameters of the robot on the obtained speed, a 3D simulator based on ODE is developed.
