2009-2010 (adaptive dynamic walking of Kotetsu)
- In order to investigate the effectiveness of the
proposed method and the validity of simulation results carried
on in 2008, we made a new qadruped robot Kotetsu with three
segments and four joints (hip roll, hip pitch, knee pitch and
ankle pitch) in each leg.
- In order to solve several problems in Kotetsu
experiments against a lateral perturbation, we modified ACM used
in simulations. That is, for adjustment of the forece threshold
of fore legs, we added ACMinh and named ACM used in simulations as ACMexc. In addition,
we changed ACM in simulations to increase the speed of swing
motion of fore legs and named it as ACMw (w is \omega).
- Especialy, stable dynamic walking against
lateral perturbations was enabled without using touchdown angle
control*1
based on rolling motion information.
*1 Touchdown angle control (attacking
angle control, stepping reflex) had been used in order to stabilize
rolling motion and pitching motion of monopod robots (M.Raibert's
monopods), biped robots (Biper-3&4, M.Raibert's bipeds and so
on) and quadruped robots (Collie-2, Tekken, BigDog and so on).
Results of experiments (ACMinh is employed in all
experiments)