Dynamic Control of Biped Locomotion Robot in Cosideration of Anguler Momentum

摘要

There exist many kinds of biped locomotion as locomotive means. A good example of natural and dynamic biped locomotion is human walking. In fact, human walking utilizes the gravity effect very skillfully and does not depend on the ankle torque at the supporting leg so much except for the kick-phase. The robot in this study realizes such a dynamic biped locomotion with kick action only during double-legs-supporting-phase. Its step length is about 44 cm and the walking cycle is 0.9∼1.0 sec. In its control, a hierarchical control structure is adopted in which each joint is locally controlled. Moreover, it is shown by the consideration of angular momentum that the kick action makes a biped locomotion more stable.