A33 人間型二足ロボット「源兵衛」の「ナンバ歩き・ナンバ走り」のロバスト性のメカニズム(ロボット・スキル)

Abstract

In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper made clear experimentally by using high-speed video camera the mechanism of robustness of humanoid biped robot GENBE who walks and runs everywhere even on the ice and snow.