制御用ロータをもつ一足歩行ロボットの動的歩行制御

抄録

This paper deals with the newly developed robot 'O-jiro (One-legged jigging robot)' which realized stilts-walking. The impact of stepping by two legs disturbs the balance of the body, so this robot has a vertical arc-shaped plate as a leg. The one motor swings the leg cyclically, so the supporting point moves from side to side like a stepping of stilts-walking. As the same time, the other motor drives the rotor equipped the top of the body to turn the lifted leg toward the direction in which the body leans (forward or backward), So the O-jiro can keep stable. Thus he can realize the stilts-walking stably with a simple mechanism and only two actuators. As a result of the experiments, he could keep standing stably, and it is confirmed that the usefulness of this mechanism as a locomotive robot.