Biped robot and control method of Biped Robot

摘要

Problem to be solved: to provide a biped walking robot capable of performing bipedal walking control of five links and a control method of a biped robot.Biped robotFuselage andTwo legs andConversion sectionControl sectionEquipped withTwo legsThe legs and legs are alternately replaced according to walkingThe conversion sectionRcom and rfoot θ Foot θ Set system equations using trunkThe conversion sectionConvert partial linear systems to linear systemsControl sectionBy using the converted linear system, we generate instructions for walking motion by two legsControl leg movement by two legsFeedback control is performed between the converter and the controller.Diagram