受動的力学機序を規範とした3次元平地歩行の姿勢制御

抄録

Passive walking and ZMP walking has long been compared. In the laboratory, we have been experimenting with a passive walking robot. We aim to developing 3D walking robot based on passive dynamical mechanism in recent years. The walking robot has been refined more and more by repeatedly carrying out actual machine experiments, and the tasks are becoming clearer. In this study, we adapted a posture control system in horizontal direction using IMU and servomotor to reduce the ratio of assist by the experimenter. As a result, we improved the balance of the walking robot with this system. In this paper, we report independence improvement of 3D walking on level ground.