Control Algorithm for Inner Skeleton Frame Type Biped Walking Robot

摘要

We developed inner skeleton type biped walking robot “ISR-1” to work as cooperating with a human being and instead of a human being. Force sensors installed in the actuator of ISR-1 measure the outside forces, which realizes the relaxation motion similarly to muscle of a human being. This system is composed of the easy mechanisms. When a relaxation motion works, there are characteris- tics that a restraint problem on the angle of the joint in double legs supporting phase is dissolved. This robot repeats stepping motion by the center of gravity movement for the robot on lateral plane. And swinging of the leg is added to this stepping motion and a walk action is done. This paper deals with walking control algorithm by sensors and the relaxation motion of the actuators.