2A2-E21 受動動的歩行における位相軌跡を用いた歩行制御手法

概要

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In recent years, research on biped walking robots has been focused on passive dynamic walking. The most important benefit of passive walking is low energy consumption; however, the walking itself is not robust and cannot be sustained without control. To minimize the energy that is used for control, we propose a simple switching control method based on phase trajectory. In this paper, we simulate a planar passive biped walker descending a moderate slope and apply the proposed walking control method. A significant improvement in sustainability of walking was achieved with minimal use of energy.
一般社団法人日本機械学会の論文