Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Periodic input control method can control an energy of a system by modulating the amplitude of the periodic input using a deviation from a target energy.In this paper,we apply the periodic input control to dynamic walking control of a biped robot with a torso.The designed control system controls the energy around the roll axis of the robot by periodically moving the torso,and generates a walking pattern using a periodic solution of the VDP equation.Simulation results that stable dynamic walking can be achieved on a plane and a slope by controlling the torso are showed.
