Continuous-discrete control for Mobility Enhancement of Bipedal Robot

本研究旨在建立两足动物的基本控制理论。目标是将连续反作用力操纵和不连续步进控制统一为全局稳定控制。讨论了在不变的驻留条件下的最大镇定性能，从调节器到振子的连续变形，根据相空间信息步进支撑区的自洽变形等。我们可以从连续运动控制中推断出支撑区的不连续变形，这超出了我们从连续运动方面诱导稳定动力学的计划。

This study aimed at building a fundamental biped control theory. The goal was to unify continuous reaction force manipulation and discontinuous stepping control into a globally stable control. Maximization of the stabilization performance under an invariant standing condition, continual morphing from a regulator to an oscillator, self-consistent deformation of the supporting region by stepping in accordance with the phase-spatial information, etc., were discussed. We could deduce the discontinuous deformation of the supporting region from the continuous motion control, which was beyond our plan to induce the stable dynamics from aspects of the continuous motion.