身体変化に適応する4足歩行ロボットシステムのコンセプトと制御系

抄録

The purpose of this study is constructing a walk control system for quadruped robots that don’t have same scale and same weight but have similar DoF layouts. This paper describes a concept of our walk control system and its idea. The concept is a unified control system that suits a robot skeleton. A control architecture is hierarchical. It consists of a central control and an autonomous distributed control. In central control, a robot torso is central and robot legs are peripheral. The torso sends a command and informations about a robot state to legs. In autonomous distributed control, each leg controls their movement. We are going to build these control systems using oscillators and sensor signals.