독립적 기능 제어를 이용한 몸통이 부착된 이족 로봇의 자연스럽고 유연한 평지 보행

Abstract

We propose a method for generating natural and flexible limit cycles of a biped with a torso, and design controllers to stabilize both torso and leg movements simultaneously. The concept of passive dynamic walking enables us to produce natural gaits that follow free-falling trajectories during a passive swing phase. Flexible gaits are generated by changing energy levels, so we examine how wide the multiple limit cycles exist in terms of hip torque variations. Since input torques are applied to a joint that connects the torso and legs of a biped, we make use of anti-torques to separate generalized torques so that the torso controller and the leg controller function independently. The simulation results showed that our methods could generate and stabilize various walking gaits, including the natural movements of a torso. In this study, we have also discussed the effects of adding a torso compared to walkers without a torso and the relations between torso movements and walking properties.