上体を考慮したコンパスモデルの歩容生成

概要

論文の詳細を見る
In recent years, many walking robots are developed. However, their gaits are awkward and more unnatural than actual gaits human dose. Passive Dynamic Walking is enumerated as one of the solution. But, Passive Dynamic Walking has problems that the range of initial conditions on which Passive Dynamic Walking is realized is limited. In this study, the region composed of initial angular velocity of both legs by which walking more than ten cycles becomes possible is defined as feasible region of walking. And we examine the expansion of the feasible region of walking. We first add the upper body to a compass-like biped model. In the second, we consider expansion of the feasible region of walking effect of frequency entrainment phenomenon by swinging the upper body. From the simulation results of the walking, we show effectiveness of the method using frequency entrainment phenomenon in expansion of the feasible region of walking.