尾部運動振動子を付加した準受動四足ロボットの歩行パターン制御

―速度状態フィードバックによる最適化法の検証―

抄録

Recently, the autonomous robot is desired in spread versatile area to support the human society, However, the location is assumed as an activity area likely to present the ground with stairs and uneven gait. These robots have complex mechanisms and energy consumption is much and weight of these robot are limited to control smoothly. In this paper we discuss the cost performance with tale locomotion to assist to walk and running pattern less energy consumption, especially a lot of energy to the realization of a long-term operation in the everyday