カウンターウエイトを用いた2脚ロボットのパラメータ励振歩行(機械力学,計測,自動制御)

概要

論文の詳細を見る
Parametrically excited dynamic bipedal walking is an effective approach for a robot to restore its mechanical energy that is lost during the exchange of a leg's swing phase to the stance phase. Based on the parametric excitation principle, we succeeded in developing an experimental walking robot and realized for the first time the dynamic walking by the robot. In detail, the biped robot consists of four parallel legs with prismatic joints driven by DC motors so as to constrain its movement in a 2D plane. Each set of two inside or outside legs is physically jointed by a synchronous shaft and connected with the other set at the free rotational hip joint. The foot of each leg has a semicircular shape that has an effect to increase the walking speed without considering the zero moment point problem. By introducing an unique counterweight mechanism, it is shown that we can improve the Specific resistance, Restored mechanical energy and Walking soeed. Experimental studies and simulations show the effectiveness of this walking robot.
2010-08-25