1P1-B06 パラメータ励振に基づく鳥脚歩容生成(受動歩行ロボット)

概要

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Harata et al. have applied a parametric excitation method to a kneed biped robot with semicircular feet and have shown that the robot can walk sustainably with only knee actuators. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and most acrobots are controlled in inverse direction like ornithoid walking. This suggests that the inverse bending a knee restores more the mechanical energy than forward bending, and hence, ornithoid walking is more efficient. In the current work, we first compare the forward bending to the inverse bending for a double pendulum, and show that mechanical energy of the inverse bending like ornitoid walking increases more than that of the forward bending like human walking by numerical simulation. Then, we propose a parametric excitation based ornithoid gait generation for a kneed biped robot, and show that it can walk sustainably by numerical simulation.
一般社団法人日本機械学会の論文
2008-06-06