Posture Change and Jumping Motion of the Controlling Arm-Leg-Type Mobile Robot.

摘要

This paper reports the control methods and experimental results on the postural change and jumping motion of the arm-leg-type locomotive robot which has a twin leg, an upper structure on its driving axis and double controlling arms suspended from the upper body. In order to stabilize and change the posture of the robot, the feedback control method based on the compound gravity center among the body, the arms and the legs was applied. The compound gravity center was also controlled according to the inclination of the postural angle. Furthermore, we have successfully achieved a jumping motion by sequentially controlling the orbit of motion of the legs. Switching between the torque control and the PID control methods is useful in jumping motion of the robot.