二関節同時駆動機構を備えたレッグロボットにおける安定した動歩行のための蹴り出し力制御

佐藤 雄太; 宮崎 敏昌; 大石 潔

doi:10.1299/jsmermd.2016.1A2-06b3

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Online ISSN : 2424-3124

2016

Session ID : 1A2-06b3

DOI https://doi.org/10.1299/jsmermd.2016.1A2-06b3

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 08, 2016 - June 11, 2016

Dynamic Walking in Leg Robots with Two Joint Simultaneous Drive Mechanismkicking Force Control

Yuta SATO, Toshimasa MIYAZAKI, Kiyoshi OHISHI

Author information

Keywords: Bipedal walking,Walk control,Bi-articular muscle

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

Dynamic Walking is one of human walking method performs kicking continuously,thereby realizing stable walking.This paper presents the dynamic output control of stable kicking force required to walk,also bi-articular simultaneous drive mechanism the relationship between the liveing body muscle to print it out using a simple conpass model.

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