558 受動歩行を規範とした上体と遊脚制御による膝つき二足ロボットの平地歩行

概要

論文の詳細を見る
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, a control method based on passive-dynamic walking is proposed. Torso and swing-leg control enable a biped robot with knees on level ground to walk stably without gait planning. The torso control is used to generate active power replacing gravitational potential energy which is used in the case of passive-dynamic walking. The swing-leg control is applied in order to satisfy the transition condition of the swing-leg and the stance-leg before the robot falls down. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably and efficiently over a wide range of speed.
社団法人日本機械学会の論文
2006-08-06