1A1-D10 機構系ダイナミクスの能動的改変による環境適応的走行運動の実現

概要

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Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, this study intensively discusses the effect of the intrinsic dynamics of a robot's body on the resulting behavior, in the hope that mechanical systems appropriately designed will allow us to significantly reduce the complexity of control algorithm required as well as to increase the robustness against the environmental perturbation. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped, and investigate how this influences the stability of running. As a result, we have found that a certain type of nonlinearity in the leg elasticity plays a crucial role to enhance the robustness against the environmental perturbation. To the best of our knowledge, this has never been explicitly considered so far.
一般社団法人日本機械学会の論文