遊脚足部の着地時刻の早まり/遅れ情報に基づく歩行機械の対地適応機構の研究 : 第1報, 適応アルゴリズムの提案と脚機構の構成

概要

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This paper has proposed a strategy for adaptation of a biped walking machine to minute and irregular factors that cause walking instability, such as unevenness of terrain, elastic deformation of legs and so on. As a comprehensive index of these factors, advance or delay of landing time of a transfer foot has been introduced. Adaptation algorithms have been presented, that switch transmission modes of a fundamental leg motion to feet according to the error of the landing time, by means of changing locking / unlocking at two joints of each leg. A leg mechanism has been shown that can realize the adaptation algorithms mentioned above. Through walking simulations and experiments with a prototype walking machine, effectiveness of the proposed strategy has been confirmed.
1999-02-25