ナチュラルダイナミクスとディレイドステッピングリフレックスを用いた効率的な歩行

概要

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The most popular control method of bipedal walking robots is ZMP(Zero Moment Point) based control method. In this method, the torso is accelerated and decelerated by the motors in every step. It is not energetically efficient because natural dynamics is not used. Natural dynamics is to generate motion using mechanical features of the machine, i.e., as much as possible, without using the motors. A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics is not considered in ZMP based control method. In this paper, we report on a biped robot: 'Tetsuro' designed with consideration of natural dynamics, and indicate inverted pendulum based control method using an approximate model and delayed stepping reflex, which can generate the efficient treadmill walking.
2008-07-05