2A1-E08 機構的優位性によるヒューマノイドロボットのモデル化と運動制御の容易化

概要

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Study of robot mainly focuses on the design of motion pattern and controller. It's often the case that mechanism exists a priori. Therefore if the additional functions are required, some actuators are added. It causes increase of weight and the complexity of control. In this paper, we focus on the mechanism of the conventional humanoid robot and design a new humanoid robot with mechanical advantages.We introduce the new humanoid robot to the one of mechanical advantages the ankle passive joint. The ankle passive joint has advantages for not only actuator reduction, but also to enable easy application of inverted pendulum model to motion control. We verify the effectiveness of the advantages of new mechanism by experiment of locomotion with the prototype of humanoid robot.
2009-05-25