水上歩行の定常歩容生成のための目標システムパラメータ探索アルゴリズム

抄録

This paper discusses a method for generating a steady gait of water surface walking. First, we introduce a 6-DOF walking model and outline the system dynamics. Second, we propose algorithms for calculating the target upper-body angle and step period that can make the time integral of the control torque of the flywheel for one step zero. In addition, we mathematically derive the target initial angular velocity of the flywheel.