Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Human dynamic gait has a kicking phase, a swinging phase, and a landing phase, and a gait control with switching control is necessary to reproduce it. This paper proposes a walking control method for a biped walking robot with bi-articular muscles that uses position control during the swing phase and final state control during the kicking and landing phases. The control of the kicking and landing phases is achieved by simultaneously controlling the torque by the carrier motor and the position by the sun motor and ring motor of the bi-articular muscle mechanism. The results showed that the robot walked continuously with an error average of 6.25×10−4rad at the end of the kicking phase and an error average of 4.5 × 10−3rad at the end of the landing phase.
