出力零化制御によるホッピングロボットの姿勢制御

抄録

This article proposes an output zeroing control of angular momentum as a method of attitude control during a series of jumping motions from before the taking-off to after landing for hopping robots. In the proposed method, a 3-link mechanism of the robot is reductively modeled as a 2-link mechanism, and the output zero control system is designed by taking the angular momentum around the toes as an output function. Simulation results to see the validity showed that by consistently using the proposed control system from before jumping to after landing, the robot can succeed in landing while regulating the angular momentum at the taking-off and maintaining its attitude in the air.