1A1-D08 形態と制御の同時進化による動的安定二足歩行の獲得

概要

論文の詳細を見る
In this paper, we investigated the morphology and controller of biped robots. We viewed them as design components that together can induce dynamically stable bipedal locomotion. We conducted coupled evolution of the morphology and controller of a biped robot, which consists of nine links and eight joints, and is actuated by oscillators without sensor feedback in three-dimensional simulation. As results, both pseudo-passive dynamic walkers and active-control walkers emerged, but the pseudo-passive dynamic walkers showed more dynamic stability than active-control walkers. This is because compliant components in morphology function as noise filters and passive oscillators. Finally, we have concluded that appropriate compliance is a key to achieving dynamical stability during locomotion.
一般社団法人日本機械学会の論文