1P1-E02 二足走行ロボットの基礎研究 : 四肢の動作が与える影響

概要

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Recently researches of biped running robots have been increasing. Most of these researches deal with low-velocity running such as jogging. As the running velocity becomes higher, the ground reaction force becomes larger than that of low-velocity running. The larger reaction force makes the robot unstable. Therefore, in high-speed running, the control of the ground reaction force is very important. In this study, in order to get the fluctuation of mass center of runner's whole body, we simulate running movements of human athlete in a weightless condition. How the movements of four-limb during running effect the relative position between the body and the mass center is analyzed from the simulation. The simulation results can be used for controlling the running robot to stabilize the posture of it and for controlling the reaction force.
一般社団法人日本機械学会の論文
2009-05-25