1P1-B02 仮想歩行モデルを用いた二次元平面上での人型ロボットの歩行生成(受動歩行ロボット)

概要

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The aim of our research is walking pattern generation for a humanoid robot based on the Passive Dynamic Walk (PDW) concept. The stability of the walking pattern is of main concern. It is well known that stable walk is possible, provided the system parameters and the initial conditions are chosen carefully. So far, no explicit relation between initial conditions and stability are known. Therefore, the conditions are usually set empirically. But this is feasible only for simple models. In this work, we show how a stable walking pattern for a multilink (four-link) planar model can be generated via a simple two-link PDW model. The walking pattern is then realized via the computed torque method. Results are demonstrated based on data from simulations.
一般社団法人日本機械学会の論文
2008-06-06