C38 上体姿勢制御とCPGによる脚制御を複合した目標速度追従型二足歩行制御(OS11-3 移動ロボットと制御理論)

概要

論文の詳細を見る
The combined control method consists of Central Pattern Generator (CPG) for legged locomotion and torso attitude control has been proposed. The combined control has the adaptability to the change of environment with CPG. Moreover using the control method, it has been confirmed that walking speed is changed according to the desired angle of torso. Therefore based on the result, this study aims to propose the desired velocity tracking control of biped locomotion by changing the torso angle according to the difference between the walking speed and the desired speed. In this paper, computer simulations were carried out to verify the performance of velocity tracking. From the result, the effectiveness of this method was confirmed.
一般社団法人日本機械学会の論文
2005-08-22