2P1-D06 2脚ロボットの軟弱地面における接地力学解析

概要

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This paper addresses contact dynamic model between loose soil and feet of a legged robot. Most of studies for biped robots have assumed the floors as undeformable rigid ones. This paper deals with a locomotion of a biped robot on deformable loose soil like sand. Since the ground reaction force varies according to the contact condition between the feet and ground in case of loose soil, it is necessary to formulate mathematically this relationship. The ground reaction force can be analyzed in the two conditions: static and driving state. In the static state, the ground reaction force is determined by the sinkage of feet, the pressure distribution under feet. In the driving state, besides the factors in static state, the sinkage by slipping also affects the ground reaction force. The approach for calculating the ground reaction force in these situations is proposed.
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