上体と伸縮脚を利用した2脚ロボットの摩擦係数が一定でない路面上の安定歩容生成

抄録

This paper proposes a method for generating a stable walking on road surface with non-constant coefficient of friction using telescopic-leg and upper-body. First, we introduce a 9-dof walking robot model, and design a control system for generating a stable walking on road surface with non-constant coefficient of friction. Second, we investigate the condition of stable gait generation with respect to physical and control parameters of upper-body.