B314 歩行面と点接触する劣駆動二足歩行機の試作と矢状面内での歩行安定化(OS2 ロボットのダイナミクスと制御2)

概要

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An underactuated biped robot with point feet is developed to study its stable walking in 3D space. This paper deals with constrained walking in the sagittal plane as a first step, based on a reduced model. It consists of a torso, two femurs, and two tibias, but no ankles. To realize the stable walking, four variables are chosen and controlled to follow reference trajectories in the joint space, which is translated from a desired walking pattern in the workspace. The control scheme is verified to be effective in numerical simulations. But currently, it does not work in hardware experiments due to unmodeled dynamics mainly in torque transmission elements.
一般社団法人日本機械学会の論文
2011-06-28