歩行原理を考慮した機構解析モデル : ZMP則と消費エネルギー最小側によるモデル

概要

論文の詳細を見る
The main purpose of this research is to make clear the walking mechanism by a dynamic model based on walking principles, that is, ZMP principle and minimum consumption energy principle. We have used ZMP principle for stable walking and minimum consumption energy principle for optimum configuration. First, we have developed a two-dimensional dynamic model. This model generates a trajectory of the center of the gravity of the body employing the above-mentioned principles and yields successively stable walking cycles. Next, we have extended the two-dimensional model to the three-dimensional model which includes the ZMP principles in the lateral plane. The dynamic simulation of the three-dimensional walking shows a behavior much closer to a real human being's one. Finally, we found out that these two walking principles take an important role for human like walking.
公益社団法人精密工学会の論文
2002-01-05