Postural and driving control of the variable. Configuration-type parallel bicycle. (2nd report, standing up and falling down control by torque control method)

We developed a new type of parallel bicycle with a working arm and a controlling arm. By using these arms, the robot can vary its configuration and change locomotion mode according to the working conditions or environments. In the previous paper, several kinds of configuration and locomotion mode were realized by using gain-changing control method. In this paper, torque control method was proposed and applied to the standing up motion and braking of falling down of the robot. The experiments shows that the torque control method is better than the gain changing one because of the smooth and high speed motion without any critical vibration. Furthermore, we succeeded in soft landing of the falling down motion of the robot by using self-learning control method applied to provide the input torque. According to the experimental results, this type of the robot can be expected to play active roles in service or maintenance use.