抄録
This paper presents methods to ameliorate the hardware mechanism of the bipedal robot for the running experiment system based on high-speed visual feedback, called ACHIRES. In a new robot (Test Unit 2), we succeeded in enlarging the movable range of waist joints, enhancing the power of the actuators in each joint, and reducing the risk of cable interference around knees, which are keys to achieve more dynamic movements of the robot. As a first step of assessing the effect of above stated changes, we conducted the running experiment, in which we accomplished 4.2 km/h running and longer duration of air-staying time, leading to less risk of tumbling over. On the other hand, increased weight of the upper body brought new issue; larger pitch moment while jumping. In order to achieve further stable running, improvement of control method is needed which is capable of subduing the crucial moment while in the air and of calculating the optimum body angle at the moment of jumping.
