4足歩行機械の動歩行時の姿勢安定化制御

We have proposed the 3D sway compensation trajectory of a vehicle body to realize dynamically stable walking for a quadruped walking vehicle. This method uses the 3D motion of the vehicle body to keep a zero momentum point (ZMP) on a diagonal line between the support legs, and dynamically stable walking by a trot gait is realized on a flat surface. However, for dynamically stable walking on rough terrain, feedback control of the body attitude using equipped sensors is indispensable. In this paper, we consider four stabilizing control methods, that is, a) rotation of the body along the diagonal line between the support legs, b) translation of the body along the perpendicular line between support legs, c) vertical motion of the swing legs, and d) horizontal motion of the swing legs, and compare the stabilizing efficiency for each method through computer simulation. Then, walking control that combines the 3D sway compensation trajectory and the feedback control of the body attitude using translation of the body and vertical motion of the swing legs is applied to the quadruped walking robot, TITAN-VIII, and dynamically stable walking using a generalized trot gait on rough terrain is demonstrated.