Dynamics Based Control of Humanoid Robot

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In this research, we consider the walking control from the following point of view. That is, the essential principle in walking control is a passive dynamic walking. Therefore, we have been researching a Quasi-passive walking by using a quasi-passive walking robot which is set on a slight slope. Concretely speaking, we developed a walking robot whose joint consists of direct-drive motor. The following are the results.(1)We designed and develop a biped robot PB-I. This robot has two legs and the each leg has tree joints. Direct drive motor is used for the joint actuator.(2)We obtained a dynamical model of PB-I. And we analyzed the robot as a non-linear dynamical system. Then, we researched a realizability of passive walking of the robot and a stability analysis.(3)We propose a control law for Quasi-passive walking. At that time, a kind of learning control method was proposed.(4)We focused on a impact point in walking process, and using a Poincare map, we tried to understand the structure of the map.(5)We proposed a kind of continuous type delayed feedback control.