2A2-O08 床反力情報を用いた三脚揺動歩行について

抄録

In this paper, we focus on the information of ground reaction force to generate locomotion of a tripedal walking robot 'Martian III'. Our previous works have indicated that the phase difference among the legs is a dominant factor for the locomotion of Martian III. In order to generate more diverse locomotion like animal, it is necessary to use feedback information on the environment. Thus, we add feedback term by utilizing the ground reaction force to national frequency of the periodic input of legs, and verified that generate the phase difference between each leg by robot.