Attitude Control of Biped Hopping Robot Using Inertial Rotor

We propose attitude stabilization control for a biped hopping robot with springs and a closed-link leg mechanism. The robot has an inertial rotor to stabilize the attitude in combination with the swinging control of the leg. The attitude stabilization control is realized using an integral optimum servo controller designed on the basis of the linear quadratic regulator method. The attitude of the robot is estimated from the acceleration of the robot body measured by an IMU. Experiments using this system are conducted to confirm the attitude stabilization performance compared with the simulation results.

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