2P1-I23 2足歩行ロボットの基礎研究 : 合成重心軌道と床反力の制御(アミューズメント・エンタティナーロボット)

概要

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Recently researches of biped running robots are increasing. These researches deal with low-velocity running such as jogging. As the running velocity becomes higher, the ground reaction force including impact force at touch down becomes larger than that of low-velocity running. The large reaction force makes the robot unstable. Therefore, in high-speed running, the control of the ground reaction force is very important. In this study, we modeled the ground as a dynamical model of two springs and a dashpot. The model can make the reaction force curve during the landing period just the same as that of a human athlete. The trajectories of the joint angles are derived so that the mass center of the whole body might change like a human athlete during the landing period.
一般社団法人日本機械学会の論文
2008-06-06