4脚歩行ロボットのための慣性ロータを用いた姿勢制御

抄録

Quadruped robot has better stability of posture and walking than bipedal walking robot. However, there are certain conditions to get stable posture. As we regard the foot in contact with the ground as a point, the supporting leg polygon is made by connecting the points with lines. If the centroid projection point of the robot is not in the polygon, the robot falls. And, as the center of gravity projection point is closer to the side of the supporting leg polygon, reduces the stability margin I become unstable. Therefore, in order to perform a stable posture, feet position is limited. As a result, freedom of attitude is limited. So, we will it is possible to obtain the inertial force by rotating a disk, to be used inertia rotor. We designed the optimum regulator based on the experimental machine we made and simulated it.