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

抄録

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.