B38 人間型二足ロボット源兵衛のナンバ歩きから階段昇降・超高速ナンバ走りへの展開(移動・弓)

元データ 2007-11-13 社団法人日本機械学会

概要

There is no robot around us in our society at the current stage and also there will be no robot in the future if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories and continue the present conventional research and development (R & D) style in robot projects. It seems that the emergence of intellectuality in an autonomous robot exists in the dexterity of human or creatures as complex systems. The previoys paper proposed the approach for realization of a real intellectual robot. We call this Human-Robotics, where robots and engineers should learn and develop in collaboration with each other in the real world on the basis of the dexterity of nature, life and human. We realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art, which uses only small active power with simple chaotic limit cycle utilizing instability. Instability makes the natural movement and can be applied to walking of a physically handicapped person, rehabilitation, sports, and so on. This paper showed the development of robust NANBA walking of humanoid Biped Robot GENBE to JIZAI-NANBA making full use of instability as a source of driving force.

著者

川副 嘉彦 埼玉工業大学工学部
伊倉 良明 埼玉工業大学大学院工学研究科
川副 嘉彦 埼玉工大
伊倉 良明 埼玉工大
森山 真太朗 埼玉工大
田口 準 埼玉工大
癸生川 純一 埼玉工大

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