Abstract
The purpose of this study is constructing a foot reaction force control system to realize dynamic motions by a self-contained pneumatic-driven musculoskeletal humanoid. We aim at realization of jumping motion as one of dynamic motions by utilizing resonance. We constructed a foot reaction force control system, because foot force control can control center-of-mass motion. Center-of-mass motion is an important point to jump. We performed real world experiments in which. As the result, we got dead time of this system. And vibration amplitude of foot reaction force expanding was shown in the result of square-wave response.
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