We are aiming to realize an efficient running motion utilized elasticity of legs by applying the periodic input control method to a quadruped robot with compliant legs. In our previous work, we achieved a hopping locomotion motion by controlling the center of mass of the robot with the expanding periodic input control method. While this approach has an advantage on its simplicity, however it has a disadvantage on stability against disturbances. In this paper, we propose a hopping attitude control based on mutual entrainment among periodic input control systems.
周期入力制御による弾性脚を持つ4 脚走行ロボットの跳躍姿勢安定制御
SI2016(17)_1553
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