二関節筋を有するレッグロボットの関節トルクフィードバックを用いた高精度な蹴り出し力制御

抄録

It is important for realization of dynamic walking to generate kicking force in the direction connecting the waist position and the foot tip in the kicking out period. The leg robot with bi-articular muscle in this study can generate kicking force of this direction using one motor simulating the bi-articular muscle. In order to realize dynamic walking in the robot of this study, it is necessary to control exact kicking force within 0.2 seconds. Also, it is necessary for the joint torque to respond to the command value at 30rad/sec. Therefore, joint torque was controlled so as to satisfy 30rad/sec using bi-articular muscle and indirectly controlled kicking force. As a result, in the steady state, high-precise kicking force control with an error of 6% from the command value could be realized.