ソフトウェアサーボ系による4足歩行ロボットの静的歩行制御

抄録

It seems that a qaudrupedal walking robot with mammal type legs has not been developed because of the complexity of the control problems, such as the construction of the control system and its stabilized walking. However these problems should be solved by advanced micro-electronics techniques. This paper proposes a software servo control system which is broken up in order to control the micro-processors. This is an effective method for multi-joints control. This paper indicates a dynamic analysis, a simulation of the static balance walking, and an experiment for a quadrupedal walking robot with mammal type legs which was constructed for trial in this study.