主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
In a previous paper, we presented a control method for master-slave bipedal walking robots. The method consisted of a combination of position-based unilateral masters-slave control of leg joints and balancing control actuating ankle joints. This paper presents an improved switching mode method and balance control laws assosiated to the modes. The proposed method is validated through a realtime simulation environment involving haptic devices.