周期入力制御による弾性脚を持つ4脚走行ロボットの跳躍移動制御

抄録

In our previous work, we proposed the periodic-input control method that can control energy of various systems such as pendulums, swings, and a 1-DoF hopping robot. We can achieve control objectives by controlling energy in these cases. However, multi-DoF vibration systems cannot be controlled in such way; because they have multiple modes of vibration, we must control relations among these modes as well as energy in order to control total behaviors of the system. From these viewpoints, we have investigated the hopping control problem of the quadruped robot with compliant legs as one of the multi-DoF control target by computer simulations. In this paper, we applied the periodic-input control method to the real machine and actualized distinct motions such as vertical hopping, longitudinal/lateral locomotion and yaw motion.