2A1-D19 踵接地・爪先離地動作に着目したヒューマノイドロボットのヒト歩行模擬

概要

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A humanoid robot -WABIAN-2R- capable of human-like walks with knees stretched, heel-contact and toe-off motion is proposed in this paper. WABIAN-2R has two 1-DOF passive joint in its feet to bend toes in steady walking. Also it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. Furthermore a new pattern generation algorithm for walking patterns with knee stretched, heel-contact and toe-off motion based on ZMP criterion is described. In this pattern generation, some parameters of foot trajectories of a biped robot are optimized by using a Genetic Algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R that have an ability to realize more human-like walking styles of a humanoid robot. is confirmed.
一般社団法人日本機械学会の論文