560 Emergence of Instantaneous NANBA TURN of Humanoid Biped Robot GENBE Based on the Distributed Control of Physical Body in a Martial Art with Anti-ZMP

摘要

It seems that the emergence of intelligence in an autonomous robot exists in the dexterity of human or creatures as complex systems and the research style and the development procedure along this approach should be necessary for realization of a real intelligent robot. This paper realized the simple self-sustained humanlike robust instantaneous NANBA TURN about body axis of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability with Anti-ZMP, which uses only small active power with simple chaotic limit cycle using gravity.