冗長脚二足歩行ロボットにおける腰の等高等速移動の歩行制御

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タイトル別名
  • Gait Control for Redundant Legged Biped Robot at Constant Velocity and Constant Height of the Waist
  • 特集論文 冗長脚二足歩行ロボットにおける腰の等高等速移動の歩行制御
  • トクシュウ ロンブン ジョウチョウ キャク ニソク ホコウ ロボット ニ オケル コシ ノ トウ コウトウソク イドウ ノ ホコウ セイギョ

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In this paper, we propose a gait control method for redundant legged biped robot based on leg center of mass (COM) position control at constant velocity and constant height of the waist. The developed biped robot has redundant legs, which have 4 degree-of-freedoms (DOFs) on each in the saggital plane. The redundant DOF enables to move its leg tip position and its leg COM position independently. Therefore proposed robot has structural capability to control the leg COM position for keeping the projection of the total COM inside the support polygon without upper body motion. Such capability enables the stable static walk in the arbitrarily desired velocity and height of the waist motion. The validity of the proposed method for the static walk at constant velocity and constant height of the waist in the leg COM position control for redundant legged biped robot is confirmed by several results of simulation and experiment.

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