{"id":435,"date":"2025-07-10T10:15:22","date_gmt":"2025-07-10T01:15:22","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=435"},"modified":"2025-07-25T16:12:17","modified_gmt":"2025-07-25T07:12:17","slug":"%e3%80%90%e4%bd%bf%e3%81%84%e6%96%b9%e3%80%91unitree-go2%e3%81%ae%e6%93%8d%e4%bd%9c%e3%83%9e%e3%83%8b%e3%83%a5%e3%82%a2%e3%83%ab%ef%bc%93%ef%bd%9e%e5%9f%ba%e6%9c%ac%e7%9a%84%e3%81%aa%e6%93%8d%e4%bd%9c","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=435","title":{"rendered":"\u3010\u4f7f\u3044\u65b9\u3011Unitree G1\u306e\u64cd\u4f5c\u30de\u30cb\u30e5\u30a2\u30eb\uff13\uff5e\u57fa\u672c\u7684\u306a\u64cd\u4f5c\uff5e"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E3%83%AA%E3%83%A2%E3%82%B3%E3%83%B3%E3%81%AE%E5%9F%BA%E6%9C%AC%E6%93%8D%E4%BD%9C\" >\u30ea\u30e2\u30b3\u30f3\u306e\u57fa\u672c\u64cd\u4f5c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E3%82%B3%E3%83%B3%E3%82%BB%E3%83%97%E3%83%88%E3%81%AE%E8%AA%AC%E6%98%8E\" >\u30b3\u30f3\u30bb\u30d7\u30c8\u306e\u8aac\u660e<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E3%83%A2%E3%83%BC%E3%83%89%E5%88%87%E3%82%8A%E6%9B%BF%E3%81%88\" >\u30e2\u30fc\u30c9\u5207\u308a\u66ff\u3048<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E4%B8%BB%E3%81%AA%E8%AA%AC%E6%98%8E\" >\u4e3b\u306a\u8aac\u660e<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E5%A7%BF%E5%8B%A2%E3%83%A2%E3%83%BC%E3%83%89\" >\u59ff\u52e2\u30e2\u30fc\u30c9<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E3%82%A4%E3%83%B3%E3%82%BF%E3%83%A9%E3%82%AF%E3%83%86%E3%82%A3%E3%83%96%E6%A9%9F%E8%83%BD\" >\u30a4\u30f3\u30bf\u30e9\u30af\u30c6\u30a3\u30d6\u6a5f\u80fd<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=435\/#%E3%83%96%E3%83%BC%E3%83%88%E3%83%97%E3%83%AD%E3%82%BB%E3%82%B9\" >\u30d6\u30fc\u30c8\u30d7\u30ed\u30bb\u30b9<\/a><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%AA%E3%83%A2%E3%82%B3%E3%83%B3%E3%81%AE%E5%9F%BA%E6%9C%AC%E6%93%8D%E4%BD%9C\"><\/span>\u30ea\u30e2\u30b3\u30f3\u306e\u57fa\u672c\u64cd\u4f5c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u30ea\u30e2\u30fc\u30c8 \u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u4f7f\u7528\u3057\u3066\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067 G1 \u30ed\u30dc\u30c3\u30c8\u3092\u64cd\u4f5c\u3059\u308b\u5834\u5408\u306f\u3001\u6b21\u306e\u5236\u5fa1\u65b9\u6cd5\u306b\u5f93\u3063\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-rich\"><div class=\"wp-block-embed__wrapper\">\n<div style=\"width: 640px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-435-1\" width=\"640\" height=\"360\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/oss-global-cdn.unitree.com\/static\/051ac1ce7d00468bb68e37fff7461617.mp4?_=1\" \/><a href=\"https:\/\/oss-global-cdn.unitree.com\/static\/051ac1ce7d00468bb68e37fff7461617.mp4\">https:\/\/oss-global-cdn.unitree.com\/static\/051ac1ce7d00468bb68e37fff7461617.mp4<\/a><\/video><\/div>\n<\/div><\/figure>\n\n\n\n<p><strong>\u5de6\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u524d\u9032\u3059\u308b\uff1a<\/strong><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"350\" height=\"341\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-19.png\" alt=\"\" class=\"wp-image-439\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-19.png 350w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-19-300x292.png 300w\" sizes=\"auto, (max-width: 350px) 100vw, 350px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f8c\u65b9\u306b\u62bc\u3059:<\/strong><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"294\" height=\"276\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-20.png\" alt=\"\" class=\"wp-image-440\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53f3\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af<\/strong><\/li>\n\n\n\n<li><strong>\u53f3\u6298\uff1a<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u53f3\u306b\u62bc\u3059<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image is-resized\"><a class=\"reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_right.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_right.png\" alt=\"G1\u53f3\" style=\"width:430px;height:auto\"\/><\/a><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5de6\u6298\uff1a<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u5de6\u306b\u62bc\u3059<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image is-resized\"><a class=\"reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_turn_left.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_turn_left.png\" alt=\"G1 \u5de6\" style=\"width:478px;height:auto\"\/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B3%E3%83%B3%E3%82%BB%E3%83%97%E3%83%88%E3%81%AE%E8%AA%AC%E6%98%8E\"><\/span>\u30b3\u30f3\u30bb\u30d7\u30c8\u306e\u8aac\u660e<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>G1\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u8907\u6570\u306e\u52d5\u4f5c\u30e2\u30fc\u30c9\u304c\u3042\u308a\u307e\u3059\u3002\u5404\u30e2\u30fc\u30c9\u306e\u8a73\u7d30\u306a\u8aac\u660e\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u30e2\u30fc\u30c9<\/th><th>\u8aac\u660e<\/th><\/tr><\/thead><tbody><tr><td><strong>\u30bc\u30ed\u30c8\u30eb\u30af\u30e2\u30fc\u30c9<\/strong><\/td><td>\u3059\u3079\u3066\u306e\u30e2\u30fc\u30bf\u30fc\u304c\u30a2\u30af\u30c6\u30a3\u30d6\u306a\u52d5\u304d\u3092\u505c\u6b62\u3057\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u3092\u624b\u52d5\u3067\u52d5\u304b\u3057\u3066\u3082\u6e1b\u8870\u306f\u611f\u3058\u3089\u308c\u307e\u305b\u3093\u3002<\/td><\/tr><tr><td><strong>\u30c0\u30f3\u30d4\u30f3\u30b0\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30e2\u30fc\u30bf\u30fc\u306f\u30a2\u30af\u30c6\u30a3\u30d6\u306a\u52d5\u304d\u3092\u505c\u6b62\u3057\u307e\u3059\u304c\u3001\u62b5\u6297\u3092\u63d0\u4f9b\u3057\u3001\u6e96\u5099\u30e2\u30fc\u30c9\u3078\u306e\u79fb\u884c\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td><strong>\u6e96\u5099\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ed\u30dc\u30c3\u30c8\u306f5\u79d2\u4ee5\u5185\u306b\u52d5\u4f5c\u306e\u6e96\u5099\u59ff\u52e2\u3092\u3068\u308a\u307e\u3059\u3002<\/td><\/tr><tr><td><strong>\u30b9\u30af\u30ef\u30c3\u30c8\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ed\u30dc\u30c3\u30c8\u306f\u3086\u3063\u304f\u308a\u3068\u3057\u3083\u304c\u3093\u3060\u59ff\u52e2\u306b\u79fb\u884c\u3057\u307e\u3059\uff08\u30d0\u30e9\u30f3\u30b9\u5236\u5fa1\u306a\u3057\uff09\u3002<\/td><\/tr><tr><td><strong>\u5ea7\u5e2d\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ed\u30dc\u30c3\u30c8\u306f\u7740\u5e2d\u59ff\u52e2\u3092\u3068\u308a\u307e\u3059\uff08\u30d0\u30e9\u30f3\u30b9\u5236\u5fa1\u306a\u3057\uff09\u3002<\/td><\/tr><tr><td><strong>\u30e2\u30fc\u30b7\u30e7\u30f3\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ea\u30e2\u30b3\u30f3\u306b\u3088\u308b\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u6709\u52b9\u306b\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td><strong>\u9023\u7d9a\u6b69\u884c\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ed\u30dc\u30c3\u30c8\u306f\u6b62\u307e\u308b\u3053\u3068\u306a\u304f\u7d99\u7d9a\u7684\u306b\u6b69\u304d\u7d9a\u3051\u307e\u3059\u3002<\/td><\/tr><tr><td><strong>\u30b9\u30bf\u30f3\u30c7\u30a3\u30f3\u30b0\u30e2\u30fc\u30c9<\/strong><\/td><td>\u30ed\u30dc\u30c3\u30c8\u306f\u30d0\u30e9\u30f3\u30b9\u3092\u4fdd\u3061\u307e\u3059\u3002\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304c\u4f5c\u52d5\u3057\u305f\u308a\u30d0\u30e9\u30f3\u30b9\u304c\u5d29\u308c\u305f\u308a\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306f\u6b69\u304d\u307e\u3059\u3002<\/td><\/tr><tr><td><strong>\u30c7\u30d0\u30c3\u30b0\u30e2\u30fc\u30c9<\/strong><\/td><td>SDK\u958b\u767a\u306b\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u30b3\u30de\u30f3\u30c9\u306e\u7af6\u5408\u3092\u9632\u3050\u305f\u3081\u3001\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u306f\u4e00\u6642\u505c\u6b62\u3055\u308c\u307e\u3059\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u91cd\u8981<\/p>\n\n\n\n<p>G1\u30ed\u30dc\u30c3\u30c8\u306e\u73fe\u5728\u306e\u6b69\u884c\u30e2\u30fc\u30c9\u3067\u306f\u968e\u6bb5\u306e\u767b\u308a\u964d\u308a\u306f\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u3002\u640d\u50b7\u3092\u9632\u3050\u305f\u3081\u3001\u968e\u6bb5\u306e\u767b\u308a\u964d\u308a\u306f\u907f\u3051\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%A2%E3%83%BC%E3%83%89%E5%88%87%E3%82%8A%E6%9B%BF%E3%81%88\"><\/span>\u30e2\u30fc\u30c9\u5207\u308a\u66ff\u3048<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u30ed\u30dc\u30c3\u30c8\u306f\u3001\u7279\u5b9a\u306e\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u7528\u3057\u3066\u30e2\u30fc\u30c9\u9593\u306e\u30b7\u30fc\u30e0\u30ec\u30b9\u306a\u79fb\u884c\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a class=\"reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_mode_switch.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_mode_switch.png\" alt=\"G1 \u30e2\u30fc\u30c9\u30b9\u30a4\u30c3\u30c1\"\/><\/a><\/figure>\n\n\n\n<p>\u91cd\u8981<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3057\u3083\u304c\u3093\u3060\u59ff\u52e2 (L1 + Y) \u3092\u4f7f\u7528\u3057\u305f\u5f8c\u306b\u30e1\u30a4\u30f3\u64cd\u4f5c\u5236\u5fa1\u30e2\u30fc\u30c9\u306b\u623b\u308b\u306b\u306f\u3001\u6b21\u306e\u624b\u9806\u306b\u5f93\u3044\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>L1 + A<\/strong>\u3092\u4f7f\u7528\u3057\u3066\u30c0\u30f3\u30d4\u30f3\u30b0 \u30e2\u30fc\u30c9\u306b\u5165\u308a\u307e\u3059\u3002<\/li>\n\n\n\n<li><strong>L1 + Y<\/strong>\u3092\u4f7f\u3063\u3066\u30e1\u30a4\u30f3\u64cd\u4f5c\u5236\u5fa1\u30e2\u30fc\u30c9\u306b\u5207\u308a\u66ff\u3048\u307e\u3059\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%B8%BB%E3%81%AA%E8%AA%AC%E6%98%8E\"><\/span>\u4e3b\u306a\u8aac\u660e<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%A7%BF%E5%8B%A2%E3%83%A2%E3%83%BC%E3%83%89\"><\/span>\u59ff\u52e2\u30e2\u30fc\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u3055\u307e\u3056\u307e\u306a\u59ff\u52e2\u30e2\u30fc\u30c9\u3092\u5207\u308a\u66ff\u3048\u308b\u306b\u306f\u3001\u6b21\u306e\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th><strong>\u30e2\u30fc\u30c9<\/strong><\/th><th><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/th><th><strong>\u8aac\u660e<\/strong><\/th><\/tr><\/thead><tbody><tr><td>\u30c7\u30d0\u30c3\u30b0\u30e2\u30fc\u30c9<\/td><td>L2\u3092\u62bc\u3057\u306a\u304c\u3089R2\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30c6\u30b9\u30c8\u304a\u3088\u3073\u958b\u767a\u306e\u305f\u3081\u306b\u30c7\u30d0\u30c3\u30b0 \u30e2\u30fc\u30c9\u306b\u5165\u308a\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30bc\u30ed\u30c8\u30eb\u30af\u30e2\u30fc\u30c9<\/td><td>L1\u3092\u62bc\u3057\u306a\u304c\u3089B\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30bc\u30ed\u30c8\u30eb\u30af\u30e2\u30fc\u30c9\u306b\u5207\u308a\u66ff\u3048\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30c0\u30f3\u30d4\u30f3\u30b0\u30e2\u30fc\u30c9<\/td><td>[1] L1\u3092\u62bc\u3057\u306a\u304c\u3089A\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30b9\u30e0\u30fc\u30ba\u306a\u52d5\u304d\u306e\u305f\u3081\u306b\u30c0\u30f3\u30d4\u30f3\u30b0\u30e2\u30fc\u30c9\u3092\u6709\u52b9\u306b\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30ed\u30c3\u30af\u30b9\u30bf\u30f3\u30c9<\/td><td>[2] L1\u3092\u62bc\u3057\u306a\u304c\u3089\u4e0a\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30ed\u30dc\u30c3\u30c8\u3092\u76f4\u7acb\u59ff\u52e2\u3067\u56fa\u5b9a\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td>\u7740\u5e2d\u30e2\u30fc\u30c9<\/td><td>[4] L1\u3092\u62bc\u3057\u306a\u304c\u3089\u5de6\u30af\u30ea\u30c3\u30af<\/td><td>\u5ea7\u3063\u305f\u59ff\u52e2\u306b\u5207\u308a\u66ff\u3048\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30b9\u30af\u30ef\u30c3\u30c8\u30e2\u30fc\u30c9<\/td><td>L1\u3092\u62bc\u3057\u306a\u304c\u3089\u4e0b\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30b9\u30af\u30ef\u30c3\u30c8\u59ff\u52e2\u306b\u79fb\u884c\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td>\u6a2a\u305f\u308f\u3063\u305f\u308a\u7acb\u3063\u305f\u308a<\/td><td>[5] L1\u3092\u62bc\u3057\u306a\u304c\u3089X\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u6a2a\u81e5\u59ff\u52e2\u3068\u7acb\u4f4d\u59ff\u52e2\u3092\u5207\u308a\u66ff\u3048\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30b9\u30af\u30ef\u30c3\u30c8\u30b9\u30a4\u30c3\u30c1<\/td><td>[6] L1\u3092\u62bc\u3057\u306a\u304c\u3089Y\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u3057\u3083\u304c\u3093\u3060\u59ff\u52e2\u3092\u4ea4\u4e92\u306b\u7e70\u308a\u8fd4\u3057\u307e\u3059\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%A4%E3%83%B3%E3%82%BF%E3%83%A9%E3%82%AF%E3%83%86%E3%82%A3%E3%83%96%E6%A9%9F%E8%83%BD\"><\/span>\u30a4\u30f3\u30bf\u30e9\u30af\u30c6\u30a3\u30d6\u6a5f\u80fd<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>G1\u30ed\u30dc\u30c3\u30c8\u306f\u69d8\u3005\u306a\u30a4\u30f3\u30bf\u30e9\u30af\u30c6\u30a3\u30d6\u306a\u30b8\u30a7\u30b9\u30c1\u30e3\u30fc\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u8868\u3092\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th><strong>\u30b8\u30a7\u30b9\u30c1\u30e3\u30fc<\/strong><\/th><th><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/th><th><strong>\u8aac\u660e<\/strong><\/th><\/tr><\/thead><tbody><tr><td>\u624b\u3092\u632f\u308b<\/td><td>SELECT\u3092\u62bc\u3057\u306a\u304c\u3089Y\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30ed\u30dc\u30c3\u30c8\u304c\u624b\u3092\u632f\u308a\u307e\u3059\u3002<\/td><\/tr><tr><td>\u30cf\u30f3\u30c9\u30b7\u30a7\u30fc\u30af<\/td><td>SELECT\u3092\u62bc\u3057\u306a\u304c\u3089A\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30ed\u30dc\u30c3\u30c8\u304c\u63e1\u624b\u30b8\u30a7\u30b9\u30c1\u30e3\u30fc\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/td><\/tr><tr><td>\u632f\u308a\u8fd4\u3063\u3066\u624b\u3092\u632f\u308b<\/td><td>SELECT\u3092\u62bc\u3057\u306a\u304c\u3089X\u3092\u30af\u30ea\u30c3\u30af<\/td><td>\u30ed\u30dc\u30c3\u30c8\u304c\u5411\u304d\u3092\u5909\u3048\u3066\u30e6\u30fc\u30b6\u30fc\u306b\u5411\u304b\u3063\u3066\u624b\u3092\u632f\u308a\u307e\u3059\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_handshake.webp\"><\/a><strong>G1\u30cf\u30f3\u30c9\u30b7\u30a7\u30a4\u30af<\/strong><\/td><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_turn_handwave.webp\"><\/a><strong>G1 \u632f\u308a\u8fd4\u3063\u3066\u624b\u3092\u632f\u308b<\/strong><\/td><\/tr><tr><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_handwave_right.webp\"><\/a><strong>G1 \u30a6\u30a7\u30fc\u30d6\u30cf\u30f3\u30c9 \u53f3<\/strong><\/td><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_handwave_left.webp\"><\/a><strong>G1 \u30a6\u30a7\u30fc\u30d6\u30cf\u30f3\u30c9 \u5de6<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>[3] R2 + X(\u30e9\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb)<\/strong><\/td><td><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/td><\/tr><tr><td>\u30ea\u30d5\u30c8\u306e\u9ad8\u3055\u3092\u4e0a\u3052\u308b<\/td><td>B\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u811a\u4e0a\u3052\u9ad8\u3055\u3092\u4e0b\u3052\u308b<\/td><td>A\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u8eab\u9577\u3092\u4f38\u3070\u3059<\/td><td>Y\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u8eab\u9577\u3092\u4f4e\u304f\u3059\u308b<\/td><td>X\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u3086\u3063\u304f\u308a\u8d70\u308b<\/td><td>R1 + \u5de6\u30ed\u30c3\u30ab\u30fc<\/td><\/tr><tr><td>\u901f\u3044\u30e9\u30f3\u30cb\u30f3\u30b0<\/td><td>R2 + \u5de6\u30ed\u30c3\u30ab\u30fc<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>[3] R1 + X\uff08\u30e1\u30a4\u30f3\u64cd\u4f5c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\uff09<\/strong><\/td><td><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/td><\/tr><tr><td>\u6b69\u304d\u7d9a\u3051\u308b\uff08\u975e\u63a8\u5968\uff09<\/td><td>\u30b9\u30bf\u30fc\u30c8\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u7acb\u3063\u3066\u3044\u308b<\/td><td>\u30b9\u30bf\u30fc\u30c8\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u4f4e\u901f\u30e2\u30fc\u30c9<\/td><td>L2\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u9ad8\u901f\u30e2\u30fc\u30c9<\/td><td>L1\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u30aa\u30d5\u30bb\u30c3\u30c8\u88dc\u511f<\/td><td>\u5de6\u30aa\u30d5\u30bb\u30c3\u30c8:R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af &#8211; \u2192\u53f3\u30aa\u30d5\u30bb\u30c3\u30c8: R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af &#8211; \u2190\u524d\u65b9\u30aa\u30d5\u30bb\u30c3\u30c8: R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af\u2193\u5f8c\u65b9\u30aa\u30d5\u30bb\u30c3\u30c8 R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af\u2191<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_slow_walk.webp\"><\/a><strong>G1\u4f4e\u901f\u30e2\u30fc\u30c9<\/strong><\/td><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_fast_walk.webp\"><\/a><strong>G1\u9ad8\u901f\u30e2\u30fc\u30c9<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>[7] R1 + Y\uff083\u81ea\u7531\u5ea6\u8170\u90e8\u69cb\u9020\u306e\u307f\u4f7f\u7528\uff09<\/strong><\/td><td><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/td><\/tr><tr><td>\u6b69\u304d\u7d9a\u3051\u308b\uff08\u975e\u63a8\u5968\uff09<\/td><td>\u30b9\u30bf\u30fc\u30c8\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u7acb\u3063\u3066\u3044\u308b<\/td><td>\u30b9\u30bf\u30fc\u30c8\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u4f4e\u901f\u30e2\u30fc\u30c9<\/td><td>L2\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u9ad8\u901f\u30e2\u30fc\u30c9<\/td><td>L1\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u30aa\u30d5\u30bb\u30c3\u30c8\u88dc\u511f<\/td><td>\u5de6\u30aa\u30d5\u30bb\u30c3\u30c8:R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af &#8211; \u2192\u53f3\u30aa\u30d5\u30bb\u30c3\u30c8: R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af &#8211; \u2190\u524d\u65b9\u30aa\u30d5\u30bb\u30c3\u30c8: R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af\u2193\u5f8c\u65b9\u30aa\u30d5\u30bb\u30c3\u30c8 R1\u3092\u62bc\u3057\u306a\u304c\u3089\u30af\u30ea\u30c3\u30af\u2191<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>[8] R2 + Y\uff083\u81ea\u7531\u5ea6\u8170\u90e8\u69cb\u9020\u306e\u307f\u4f7f\u7528\uff09<\/strong><\/td><td><strong>\u30dc\u30bf\u30f3\u306e\u7d44\u307f\u5408\u308f\u305b<\/strong><\/td><\/tr><tr><td>\u30ea\u30d5\u30c8\u306e\u9ad8\u3055\u3092\u4e0a\u3052\u308b<\/td><td>B\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u811a\u4e0a\u3052\u9ad8\u3055\u3092\u4e0b\u3052\u308b<\/td><td>A\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u8eab\u9577\u3092\u4f38\u3070\u3059<\/td><td>Y\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u8eab\u9577\u3092\u4f4e\u304f\u3059\u308b<\/td><td>X\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u6b69\u304d\u7d9a\u3051\u308b\uff08\u975e\u63a8\u5968\uff09<\/td><td>\u30b9\u30bf\u30fc\u30c8\u3092\u30af\u30ea\u30c3\u30af<\/td><\/tr><tr><td>\u30a6\u30a8\u30b9\u30c8\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb<\/td><td>SELECT + \u53f3\u30ed\u30c3\u30ab\u30fc\u3092\u62bc\u3057\u7d9a\u3051\u308b<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u91cd\u8981<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4ef0\u5411\u3051\u307e\u305f\u306f\u3057\u3083\u304c\u3093\u3060\u59ff\u52e2\u3067\u306e\u30b9\u30bf\u30fc\u30c8\u306f\u3001<strong>\u5e73\u3089\u3067\u786c\u3044\u5730\u9762\u3067\u306e\u307f\u9069\u3057\u3066\u3044\u307e\u3059<\/strong>\u3002\u3053\u308c\u3089\u306e\u30e2\u30fc\u30c9\u3092\u4e0d\u5747\u4e00\u306a\u5730\u9762\u3067\u4f7f\u7528\u3059\u308b\u3068\u3001\u4e0d\u5b89\u5b9a\u306b\u306a\u308a\u3001\u640d\u50b7\u306b\u3064\u306a\u304c\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u5668\u7528\u306a\u624b\u4f5c\u696d\u7528\u306e\u6a5f\u5668\u3092\u88c5\u5099\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u3001\u7e4a\u7d30\u306a\u90e8\u54c1\u306e\u640d\u50b7\u3092\u9632\u3050\u305f\u3081\u3001<strong>\u6a2a\u306b\u306a\u3063\u305f\u308a\u3057\u3083\u304c\u3093\u3060\u308a\u3057\u305f\u59ff\u52e2\u3067\u4f5c\u696d\u3092\u958b\u59cb\u3057\u306a\u3044\u3067\u304f\u3060\u3055\u3044\u3002<\/strong><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%96%E3%83%BC%E3%83%88%E3%83%97%E3%83%AD%E3%82%BB%E3%82%B9\"><\/span>\u30d6\u30fc\u30c8\u30d7\u30ed\u30bb\u30b9<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p><strong>\u901a\u5e38\u306e\u30d6\u30fc\u30c8\u30d7\u30ed\u30bb\u30b9<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u30d6\u30fc\u30c8 ->\u00a0<strong>[1]<\/strong>\u00a0->\u00a0<strong>[2]<\/strong>\u00a0->\u00a0<strong>[3]<\/strong>\u00a0-> \u30c7\u30e2 ->\u00a0<strong>[4]<\/strong>\u00a0(\u30c1\u30a7\u30a2\u30b7\u30fc\u30c8) -> \u96fb\u6e90\u3092\u5207\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u30e9\u30a4\u30a4\u30f3\u30b0\u30d6\u30fc\u30c8\u30d7\u30ed\u30bb\u30b9<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u30d6\u30fc\u30c4\u30c7\u30d0\u30a4\u30b9\u306e\u80a1\u90e8\u5206\u304c\u5730\u9762\u306b\u5bfe\u3057\u3066\u5e73\u3089\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u30d6\u30fc\u30c8 ->\u00a0<strong>[1]<\/strong>\u00a0->\u00a0<strong>[5]<\/strong>\u00a0-> \u30c7\u30e2 ->\u00a0<strong>[6]<\/strong>\u00a0-> \u96fb\u6e90\u3092\u5207\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u30b9\u30af\u30ef\u30c3\u30c8\u30d6\u30fc\u30c4\u306e\u30d7\u30ed\u30bb\u30b9<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u3057\u3083\u304c\u3093\u3060\u59ff\u52e2\u304b\u3089\u59cb\u3081\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u30d6\u30fc\u30c8 ->\u00a0<strong>[1]<\/strong>\u00a0->\u00a0<strong>[6]<\/strong>\u00a0-> \u30c7\u30e2 ->\u00a0<strong>[6]<\/strong>\u00a0-> \u96fb\u6e90\u3092\u5207\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>3\u81ea\u7531\u5ea6\u30a6\u30a8\u30b9\u30c8\u69cb\u9020<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>[7],[8] 3\u81ea\u7531\u5ea6\u8170\u90e8\u69cb\u9020\u306b\u306e\u307f\u4f7f\u7528\u3002R1 + Y\u30e2\u30fc\u30c9\u306e\u4f7f\u7528\u3092\u63a8\u5968<\/li>\n<\/ul>\n\n\n\n<p><strong>\u30ea\u30e2\u30fc\u30c8\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>R3\u30ea\u30e2\u30b3\u30f3\u304c\u30ed\u30dc\u30c3\u30c8\u307e\u305f\u306f\u30b9\u30de\u30fc\u30c8\u30d5\u30a9\u30f3\u306b\u63a5\u7d9a\u3055\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u96fb\u6e90\u3092\u5165\u308c\u305f\u5f8c\u300110\u5206\u9593\u64cd\u4f5c\u304c\u306a\u3044\u3068\u81ea\u52d5\u7684\u306b\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3057\u307e\u3059\u3002\u518d\u63a5\u7d9a\u3059\u308b\u306b\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u96fb\u6e90\u3092\u518d\u5ea6\u5165\u308c\u3066\u304f\u3060\u3055\u3044<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"\u30ea\u30e2\u30b3\u30f3\u306e\u57fa\u672c\u64cd\u4f5c \u30ea\u30e2\u30fc\u30c8 \u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u4f7f\u7528\u3057\u3066\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067 G1 \u30ed\u30dc\u30c3\u30c8\u3092\u64cd\u4f5c\u3059\u308b\u5834\u5408\u306f\u3001\u6b21\u306e\u5236\u5fa1\u65b9\u6cd5\u306b\u5f93\u3063\u3066\u304f\u3060\u3055\u3044\u3002 \u5de6\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af \u30b3\u30f3\u30bb\u30d7\u30c8\u306e\u8aac\u660e G1\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u8907\u6570\u306e\u52d5\u4f5c\u30e2\u30fc\u30c9\u304c\u3042\u308a\u307e\u3059\u3002\u5404 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