| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2009: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2008: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Research Abstract |
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.
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