Fast Walking and Running of Humanoid Biped Robot

为了实现快速行走和奔跑，研制了平面单腿跳跃机器人KEN-2和仿人双足机器人MARI-3。实现了稳定的两足行走、单腿跳跃和双腿跳跃。1.平面单腿跳跃机器人肯-2跳跃可以被认为是两足跑的基本元素。研制了一种三自由度平面跳跃机器人KEN-2。它的高度是800毫米，重量是14.5公斤。KEN-2被视为一个弹簧和一个质点的组合，其脚部的检测力被控制为等于等效弹簧-质量模型的检测力。实现了4[cm]高、100[ms]长的单腿跳跃。2.两足快走快跑机器人MARI-3在快走快跑的基础上，开发了一款仿人两足机器人MARI-3。MARI-3共有13个自由度，腰部关节在偏航轴上有1个自由度，两条腿有12个自由度，每条腿有6个自由度。MARI-3的高度约为1216毫米，重量约为38公斤。在MARI-3上，实现了两足步行、单腿和两腿跳跃作为快速行走和跑步的基础和验证实验。机器人的有效性得到了证实。两足动物的行走速度为1.2[公里/小时]。Mari-3‘S单腿跳跃时间(Mari-3在空中的时间)约为110ms，其跳跃高度约为4 cm。马里-3岁的S两腿跳的时间甚至达到了150ms。据我们所知，这是到目前为止世界上最长、最高的跳跃。

Aiming to implement fast walking and running, two kinds of robots, a planar one-leg jumping robot KEN-2, and a humanoid biped robot MARI-3 were developed. Stable biped walking, one-leg jumping, and two-leg jumping are implemented.1.Planar One-Leg Jumping Robot KEN-2Jumping can be considered as a basic element of biped running. KEN-2, a 3 DOF planar jumping robot, was developed. Its height is 800[mm] and its weight is 14.5[kg]. KEN-2 is considered as a combination of a spring and one mass point, and its detected force at the foot is controlled to be equal to that of the equivalent spring-mass model. A 4[cm] height, 100[ms] long one-leg jumping is achieved.2.Biped Fast Walking and Running Robot MARI-3Towards fast walking and running, a humanoid biped robot MARI-3 was developed. MARI-3 has totally 13 DOF, one DOF of waist joint in yaw axis, and 12 DOF for two legs, and each leg has 6 DOF. The height of MARI-3 is about 1216[mm] and its weight about 38[kg]. With MARI-3, a biped walking, one-leg and two-leg jumping were implemented as basic and verification experiments for fast walking and running. The validity of the robot was confirmed. The biped walking speed is 1.2[km/h]. MARI-3's one-leg jumping time (the time of MARI-3 in the air) is about 110[ms] and its jumping height is about 4[cm]. MARI-3's two-leg jumping time even reaches 150[ms]. As far as we know, that is the longest and highest jumping up to now in the world.