A Study of the Control of the Variable Structure-Type Locomotive Robot (4th Report, Postural Change and Locomotion by Jumping of the Control Arm/Leg-Type)
Tomokazu Hirabayashi and Kazuo Yamafuji*
Seiko Epson Co., Ltd., 3-3-5, Daiei-cho, Okaya, Nagano 394, Japan
* The University of Electro-Communications, 1-5-1, Choufugaoka, Choufu-shi, Tokyo 182, Japan
The variable structure type locomotive robot developed in this study can be any of three variations (models) by the selection of controlling arms, wheels, and legs, in addition to the body. This paper reports the postural change and jumping motion of a third model of the robot which is composed of a pair of controlling arms and a leg mounted on each end of the body. Because the model was constructed to simulate the human body, its motions bear quite a resemblance to those of a human. The main results obtained by this study are as follows: (1) Sittingdown and standing-up motions were achieved by using control methods proposed in this study; (2) Locomotion by jumping at the standing-up posture of the robot was attained; and (3) It was verified experimentally that the compound center of gravity feedback controls unstable postures of the robot such as jumping and standing on the tip of the leg.