2P1-B18 上半身駆動型準受動歩行ロボットによる可変傾斜登坂実験

概要

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We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments so far. We tried to use this walking robot for different slope inclination angle. First, we discussed the strategy of climbing up slope of variable inclination angle. We verified through presumption and experiments that the simplest way is to change the ankle angle depending on the slope inclination angle. Next, we verified the validity of the strategy by experiments of different slope inclination angle. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle with some experimental results.
一般社団法人日本機械学会の論文