著者

川副 嘉彦 伊倉 良明

出版者

一般社団法人 日本機械学会

雑誌

ジョイント・シンポジウム講演論文集:スポーツ工学シンポジウム:シンポジウム:ヒューマン・ダイナミックス 2008 (ISSN:24331309)

巻号頁・発行日

pp.165-170, 2008-11-05 (Released:2017-08-01)

被引用文献数

2 2

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In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous walking, running, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper made clear experimentally by using high-speed video camera the mechanism of robustness of humanoid biped robot GENBE who walks and runs everywhere even on the ice and snow.