四脚ロボット「Rush」を用いたバウンド歩容生成(機械力学,計測,自動制御)

Abstract

We have been studying on quadruped gait using our quadruped robot "Rush", which has rotational passive joints. Among quadruped gait, "bound gait" is simple and easy to emerge for quadruped robot. Thus, most of researches on quadruped robot running have dealt with bound gait. But, bound gait of most quadruped robot differed from four legged mammals. This paper shows that the bound gait similar to four legged manmals can realized by controlling the position of the center of gravity of the robot body in both simulations and actual experiments.