自励駆動2足歩行機構における曲り膝歩行の研究(機械力学,計測,自動制御)

概要

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To achieve high-efficiency biped walking, we have proposed a self-excited biped mechanism and clarified the characteristics of the self-excited walking whose supporting leg's knee is straight and bending by the simulations and experiments. This paper presents walking characteristics of a self-exciting biped mechanism with a cylindrical foot when the stance leg's knee is bending. We examined how the mass and length ratios of shank to leg affect the walking characteristics. We further examined the combination effect of the bent knee angle, attaching angle of the cylindrical feet, upper body mass and its attaching position on the walking performance. As a result, we found that the walking velocity can be increased by decreasing the attaching angle of feet. Although the upper body mass decreases the walking velocity, the walking velocity can increase greatly by shifting the additional mass forward only slightly. We also verified the effect of knee angle and attached mass position by experiment.
一般社団法人日本機械学会の論文
2006-02-25