2足歩行ロボットの最適軌道計画解 : 第4報,円弧足付きモデルの歩行性能解析(機械力学,計測,自動制御)

概要

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In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal trajectory planning method to obtain the energy-efficient walking under full-actuated model. In this paper, we conduct the walking performance analysis of the circular feet model, and evaluated the effect of foot radius and foot position for walking velocity, consumed energy rate, specific cost. Furthermore, the stable walking area for foot radius and foot position is evaluated, and specific cost in the stable walking area is discussed.
2009-10-25