ネコ股関節の姿勢制御戦略にもとづく反射型四脚歩行ロボットの転倒回避制御

抄録

This study aims to generate leg motion with simple reflexes to avoid fall down for a quadruped walking musculoskeletal robot. In this paper, we aims to visualize and understand the conditions that lead to falls through robot experiments. As a result of some experiments, we found that our robot falls over if it cannot kick the ground well. In the future, we will implement reflective rules to the robot to prevent from reaching a situation that leads to a fall. The goal of our study is to develop a robot that can walk in the bad ground situation using only a simple control law.