2A2-F06 二足歩行におけるロール運動解析及び安定化制御

概要

論文の詳細を見る
In recent years, different bipedal walking robots have been researched and developed. Many bipedal walking robots have their joints always controlled and are therefore energy inefficient. It is important to solve those problems for the future robotic technology. We set a goal of our research to build a bipedal walking robot with good energy efficiency and simple structure. In this paper, we simulated a bipedal walking robot of a simple structure and analyzed a roll motion of bipedal walking. As an analysis result of a roll motion, we devised stable roll motion control by using mechanical energy criteria.