2A2-E18 引き込みを利用した周期入力による三次元受動歩行ロボットの安定化制御

概要

論文の詳細を見る
In this study, a new control method that would be able to stabilize passive walker without torque input at leg joints by utilizing entrainment and mechanical oscillator was examined. It is difficult to stabilize the three dimensional biped passive walker in various environments because the range of the initial conditions for stable walk is narrow. Therefore, a three dimensional biped passive walker was designed by considering the results of human gait analysis in order to make the success rate of the passive walk high. Stability of this passive walker was analytically examined by analyzing limit cycle of the frontal movement. A period of the frontal movement is synchronized with the period of the swing leg by mechanical oscillator. The controller of the mechanical oscillator that is fixed on the passive walker generates the target path in order to synchronize the oscillator movements with the frontal movements. The passive walker is stabilized when a frontal motion period is synchronized with a swing leg period by periodic input generated by the mechanical oscillator. It was experimentally examined that the passive walker could be stabilized on various slopes and flat floor.