四脚歩行メカニズム探究のためのトルク出力型ロボットプラットフォームの開発

抄録

It is known that quadruped animals show several gaits such as pace, trot, and gallop, depending on their walking speed or environment. To understand such adaptive walking mechanism, we developed a quadruped robot platform. To implement the control algorithm extracted from legged animals to the robot, we designed highly backdrivable leg which can provide torque control at each joint. In this study, we show detailed mechanism of the robot and evaluate the accuracy of the joint torque control by comparing floor reaction forces estimated from motor currents and the measured ones.