反射を基本とした歩行モデルを実証する筋骨格ロボットの開発

抄録

Many studies on human’s musculoskeletal structures and neural systems have been conducted in order to derive the principle of human walking. This research report describes a musculoskeletal bipedal robot that we have developed for verifying some reflex-based neural network walking controllers. The developed bipedal robot has sufficient range of joint motion for realizing reflex-based walking. We conducted a preliminary walking experiment on a treadmill and demonstrated that the biped robot can walk for 8 steps with a phase-based walking controller.