Generating Method of Feedback Force Reference Signal Realizing Attitude Control of Six-Legged Robot

摘要

Recently, land-mine clearance activities have been addressed in the world. We've proposed the mine detecting method using six-legged robot. Concerning the mine detecting work by legged robot on the mine field where is uneven terrain, the legged robot is demanded the stable mine detecting work. In this research, we propose a new two generating method of feedback force reference signal in the case that the attitude of the six-legged robot is controlled by force control. First method is to extend Sky Hook Suspension Control, which is a useful attitude control method for a quadruped robot, to a six-legged robot. Second method is optimal servo control. The proposed attitude control method is examined by 3-D simulations of mine detection robot COMET-I and the experiments of mine detection six-legged robot COMET-II.