2A2-E23 衝突姿勢の非対称化に基づく高速2脚歩容生成

概要

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The author has proposed a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. The validity of the method has already been confirmed by using a telescopic-legged rimless wheel model. This paper then extends the method to a planar telescopic-legged biped model, and investigates the validity through numerical simulations. We also perform efficiency analysis taking the ankle-joint actuation into account, and discuss the role of anterior-posterior asymmetric shape of human foot from the brake effect point of view.
一般社団法人日本機械学会の論文