振動子系を用いた2脚歩行ロボットの歩行制御

抄録

This paper proposes a new method of locomotion control of a biped locomotion robot. The control system composed of joint controllers and nonlinear oscillators. The oscillators, which generate reference trajectories of the joints, tune the phases with the signals from the touch sensors. As a result, a stable locomotion corresponding to the properties of the environment is established.