足首周りの角運動量に基づく脚ロボットバランス制御の実験的検討

抄録

In this paper, we developed a bipedal robot and experimentally verified balance control based on ankle angular momentum. This balance control maximizes stabilizable regions and can optimally switches balance controllers. These balance controllers recover balance by mainly using ankle torque, inclining trunk posture and stepping respectively. In contrast with balance control that is based on position and velocity of center of mass and ignores robot rotation around center of mass, this balance control works well even when the robot rotates around the center of mass. Experimental results demonstrated that this balance control recovered balance of the developed robot by appropriately switching the balance controllers that maximize stabilizable regions.