Control of Various Motions Including Stepping and Jumping Modes for a Bipedal Robot

M. Usui and T. Komatsu (Japan)


bipedal robot, CPG, control, dynamic walk, running robot


This paper presents the H-CPG control method for a walking and running bipedal robot that can do also stepping and jumping motions. The proposed method used CPG basically, but was added the force control method that controlled the acting force from a leg to a floor in the vertical and the horizontal directions separately. It is easily realized with our method that one robot can generate several motion phases in running and walking movements continuously for environmental changes at any time. Simulation results showed the effectiveness of our method for change of motion modes and change of environmental conditions.

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