三脚揺動歩行機における陰陽制御メカニズムの考察

抄録

This paper is concerned with locomotion control of the tripedal walking robot, composed of a torso and three radial legs whose lengths are controllable. In the authors previous work, we implemented an distributed autonomous feedback control scheme to each leg, composed of intrinsic phase oscillator and ground-foce feedback, which was originally proposed for quadruped walking robot. In this paper, we discuss its feedback control strucuture of the distributed control scheme, or how and why it works in other words. For this purpose, we introduce a simple model to compute the expected ground reaction force from the shape of the robot (i.e., length of the legs). We then analyze the phase-synchronization behavior based on the explicitly described the closed-loop model. Finally we examine the virtual and the real behavior through control experiments.