2P1-B12 脚部にパラレルリンク機構を用いた汎用2足ロコモータの開発 : 第10報:支持多角形拡大による足部転倒防止機構

概要

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This paper describes one method to stop suddenly and safely without falling for biped walking robots. It can be implemented with only hardware and without a computer system. This method consists of a braking function attached to leg actuators and a fall avoidance mechanism attached to the robot's foot. Using the human-carrying biped locomotor WL-16RII (Waseda Leg - No.16 Refined II), the effectiveness of the method proposed in this paper was confirmed through an emergency stopping experiment during walking, while carrying a heavy load.
一般社団法人日本機械学会の論文