Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper, the periodic input control method is applied to control a four-legged robot with two-degree-of-freedom elastic legs, and is verified whether the running speed is improved by a kick motion. Running control using elastic energy is possible by fixing the second link at a certain angle while performing hopping control by the periodic motion of the first link. In addition, it is possible to run at a higher speed by the kick motion in synchronization with the hopping movement. The effectiveness of designed control system is verified by real machine.
