A-26 NANBA TENNIS with Powerful and Injury-free Robust Movement Utilizing Equilibrium Instability without Kick of Ground

Abstract

We realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art, which uses only small active power with simple chaotic limit cycle utilizing instability. Instability makes the natural movement and can be applied to walking of a physically handicapped person, rehabilitation, sports, and so on. This paper showed the development of robust NANBA walking of humanoid Biped Robot GENBE to NANBA-Tennis making full use of instability as a source of driving force.