FOUR-LEG TYPE ROBOT AND CONTROL METHOD FOR HIGH MOTION GAIT

摘要

PROBLEM TO BE SOLVED: To realize a high motion gait by generating supporting force in the vertical direction with rear legs, accelerating a robot with the frictional force of the rear legs with a floor, and decelerating the robot with the frictional force of front legs with the floor. ;SOLUTION: When a robot body 4 is accelerated forward by the frictional force of rear legs 2 with a floor, the inertial force -mx is generated in the horizontal direction on the robot body 4. No force other than supporting force is generated in the vertical direction on the rear legs 2 at this time. The moment I of the rear legs 2 can be described as Iθ=-mxz+mgx. If the first term is larger than the second term, the robot body 4 starts rotating backward, front legs 1 and a barrel are separated from a floor, and the center of gravity of the robot body 2 can be advanced forward. The overturning moment to lift the rear legs 2 is generated by the decelerating force when the front legs 1 are grounded on the floor. A periodic leg motion can be made if the rear legs 2 are returned forward at this time.;COPYRIGHT: (C)2001,JPO