1P1-E05 受動歩行における倒れ込み現象を抑制した足裏形状の実現(受動歩行ロボット・メカトロニクス)

概要

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This paper proposes a foot shape design to enhance stability of passive dynamic walk, which constrains fall down phenomenon. We divided the effect into lateral plane and sagittal plane and designed to effect as constraint to each plane. In lateral plane, constraining of swing from side to side is needed. In sagittal plane, stability of walk is kept by constraining fall down phenomenon by a constrainer attached top of the foot at the support leg. We show that a constraining effect realized by foot shape is effective for a walk by comparison with an arctic foot shape. By this mechanism, we describe the possibility of introducing an energy-efficient controller onto this configuration, which controls the constraining effect by changing ankle angle.
一般社団法人日本機械学会の論文
2007-05-11