油圧式４脚歩行ロボットRL-A1の対称歩行制御による転倒回避と歩行

抄録

This paper reports on the application of Symmetric Walking Control to a torque-controlled hydraulic quadruped robot RL-A1 having 1.1 m height and 75 kg weight. By maintaining controlled symmetry between the supporting legs and swinging legs as viewed from the vertical plane, we can expect the robot does not fall even under strong perturbation. The idea is verified through the exeriments where the robot can stably take a step or continuously walk on the ground even a large perturbation is applied.