We have made an unstable structure (a tumbler with joints) that has circular arc type bottoms which is a model of a biped walking robot which walks on rugged terrain. We controlled its attitude by using a small gyroscope. This paper describes thedesign of the feedback control system, which controls the attitude by the support of one leg and the drive of the crotch joints. (along with its experimental results) as the first step prior to a walking experiment for the robot. The basic feedbackcontrol system is a one-input two-output (SIMO) system, and in this paper, H{sub}∞ control theory was used to design the compensator. The results of our experiment on the designed control system show that we successfully stabilized the control of thetumbler system with joints, which is a basic research of biped walking robots.
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