Development of High-speed Bipedal Running Robot System (ACHIRES)

摘要

This paper presents a new method of realizing high-speed bipedal running with a high-speed robot using high-speed visual feedback. First, to achieve high-speed running with simple control, we developed a biped robot composed of lightweight high-torque actuators. Next we propose a control strategy which does not depend on typical methods based on a zero moment point, but instead modifies the robot's posture by high-speed visual feedback. In the strategy, by adding instantaneous high torque, we confirmed that the robot could execute running in the unbalanced region. We realized bipedal running at the speed corresponding to a Froude number of approximately 1.0, the highest reported value for non-birdlike bipedal robots.