2足歩行ロボットの最適軌道計画解 : 第5報,足首関節トルク付与による歩行性能の向上(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. We have proposed an optimal trajectory planning method to obtain the energy-efficient walking gait for active biped model. In previous report, we conducted the walking performance analysis of a biped model with circular feet, and evaluated the effect of foot radius and foot position on walking velocity, consumed energy rate, specific cost, and showed the improvement of the walking performance. However, since the ankle joint was fixed in this model, we could not control the walking velocity and its stable walking area was narrow. In this report, we introduce the model with variable ankle joint, which can control ankle torque. With this model, we evaluate the effect of ankle joint torque on walking performance and apply walking velocity control. It is shown that the stable walking area is widen, and the walking performance is improved.
2009-10-25