3E2-02 自律型二足ロボット「源兵衛」に学ぶ俊敏な転倒時・衝撃回避受け身と起き上がり(OS 立位歩行の安定性と評価)

Abstract

It seems that the emergence of intelligence in an autonomous robot exists in the dexterity of human or creatures as complex systems and the research style and the development procedure along this approach should be necessary for realization of a real intelligent robot. We proposed in the previous paper the concept of Human-Robotics, where robots and engineers should learn and develop in collaboration with each other in the real world on the basis of the dexterity of nature, life and human. We showed in this paper as the case studies the humanlike robust NANBA walking & running & instantaneous turn of humanoid biped robot GENBE based on distributed control of physical body in a martial art, which uses only small active power with simple chaotic limit cycle utilizing instability. Furthermore, the simple autonomous shock avoidance during falling down and instantaneous rising of biped robot GENBE based on distributed control of physical body in a martial art utilizing instability was shown.