周期入力制御による弾性脚を持つ４足ロボットの走行制御

–シミュレーションによる解析–

抄録

We are aiming to realize an efficient running motion of a quadruped robot with compliant legs by the periodic input control method. The periodic input control is a method that can control the energy of a system operating periodically. First, energy control systems by the periodic input control is designed to each four elastic legs. The robot can hopping at a certain height by the function of these systems Next, it is designed synchronization pattern control system that synchronizing energy control systems with arbitrary phase differences. The robot can run while hopping at a certain height by adjusting the phase differences between the legs. Finally, it is considered that the improvement of running speed by adding a kicking motion. The effectiveness of designed control system is verified by numerical simulation.