局所的PID制御器を用いた1脚ロボットの姿勢制御

抄録

Although legged robots have been researched for more than 20 years, their movement is not quick as same as animals. Abilities of a leg are not clarified. The objective of this research is to clarify the abilities and functions by manufacturing a one-legged robot. The one-legged robot is designed as almost same as human legs. Since it has not only electric motors but air cylinders in its thigh and calf as actuators, it has enough power to move. Local PID controllers for body attitude and center of gravity work to stabilization of standing control for the one-legged robot.