B312 上体駆動による三次元準受動歩行ロボットの旋回動作に関する実験的検討(OS2 ロボットのダイナミクスと制御2)

概要

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Passive dynamic walkers can walk down a shallow slope without actuators and controllers. Most researches of passive biped only focus on walking on a straight line although one of important themes of walking robots is to move and change direction as ones desired. The purpose of this paper is to develop an upper body driven quasi-passive 3D walking robot which can turn right and left on a flat ground with a direction control mechanism. A walking gait of our 3D robot rocks from side to side on a frontal plane which synchronizes movement of the swing foot on a sagittal plane. The direction control mechanism has simple switches on the surface of a hip joint above each leg. The turning movement takes advantage of yaw motion of the stance leg.
2011-06-28