コンプライアンス制御可能な小型ヒューマノイドロボットを用いたジャンプ動作の実現

抄録

A compact humanoid named as “ALPHA” was developed with 22 conventional radio-control servomotors whose servocontrol systems were newly designed to add both torque control and sensing system. By use of these functions, compliance controls were applied to the humanoid legs so as to give soft stiffness to its joints. We examined jumping action and analysis of the humanoid although the jumping action of the humanoid is usually very difficult to be realized due to its body weight. The results show that the soft stiffness obtained by the proposed compliance control is very useful for impact absorption especially at the knee joints.