2A2-T01 三脚歩行ロボットMartian IIの操縦システムの開発(脚移動ロボット(2))

Abstract

In this paper, we develop a control system for a tripedal walking robot 'Martian II' which was developed in the authors' previous work, equipped with spherical feet a,nd mechanical suspensions. With the aid of refined walking stability of Martian II, we succeeded in realizing its human-machine control interface using manual control pad and wireless communication. We also analyze its gait-pattern using optical motion capture system and give an insight from a viewpoint of symmetry in three-node networked oscillators.