著者

小水内 俊介 小貫 督仁 呉 孟鴻 辻田 哲平 近野 敦

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.7, pp.548-556, 2017 (Released:2017-10-01)

参考文献数

30

被引用文献数

1 3

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This paper presents a walking control system for biped robots on loose soil. The proposed method realizes long time continuous walking and stable stopping on sand. Characteristics of the proposed system is landing position (modification) control. In this control, as a balance index, amount of CoM position modification is utilized. Considering past modification history, amount of current landing position modification is decided. In oder to evaluate the proposed control system, the small humanoid robot performed walking, stepping and turning on sand.