速度および加速度センサを用いた4足歩行ロボットの胴体速度制御

抄録

When a quadruped locomotion robot is used as a vehicle, it is desirable to keep the body speed and body height constant. The control methods of the body speed can be classified into two main groups : 1) local feedback control using information of each joint, and 2) control using information such as velocity and acceleration of the body. Information used in the latter control method give the relationship between the robot and the external environment. We aim to achieve dynamic walking with constant body speed and height by the control method using the velocity and acceleration of the body. By the proposed control method, the walking robot `COLT-1' with several sensors achieves dynamic walking in which the body speed is maintained at 0.2[m/s].