H12 ヒューマノイドロボット「源兵衛」のナンバ歩き・ナンバ走りの発現と身体操法のメカニズム(スキー・動作の解析)

元データ 2005-09-10


It seems that the emergence of intelligence in an autonomous robot exists in the dexterity of human or creatures as complex systems and the research style and the development procedure along this approach should be necessary for realization of a real intelligent robot. This paper realized the simple self-sustained humanlike robust walking NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art without ZMP control, which uses only small active power with simple chaotic limit cycle using gravity, further developing into autonomous walking.


川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工大