ゼロ・モーメント関節をもつモデルによる2足歩行のシミュレーション : 第2報,補償動作の軽減と数値結果の解釈

概要

論文の詳細を見る
The lost function at zero moment joint (ZMJ) is compensated by the remaining normal joints. The compensatory actions are so great that a stable walking can not be realized in some cases. Methods to reduce the compensation are introduced as follows: walking velocity, lateral motion of pelvis, and inclination of legs at the instant of heel contact. A gait that is realized by a slower waling with wider step width and lateral inward motion of pelivis during stance phase can reduce the strength of compensations. The walking style resembles to that of men or infants. passive elastic elements attached at both ankles (ZMJ) contribute to make the upper torso almost upright. The passive elements are effective for the correction of abnormal walking. Some applications of results are, also, discussed with respect to the design of locomotive robots.
一般社団法人日本機械学会の論文
1989-08-25