1A2-1 倒立振子のパラメータ励振原理による効率的な二足動的歩行のための目標軌道設計(OS12:生体機能計測と制御)

概要

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In the study of efficient bipedal walking, the center of robot's total mass have been treated as an inverted pendulum. We have studied control methods in which this inverted pendulum follows the target trajectory of parametric excitation. In this paper, we propose a new target trajectory design method for efficient bipedal walking. This target trajectory was represented by a product of two sigmoid functions. We analyzed the relationship between parameters of target trajectory and energy efficiency. As a result, we found that the gentle rising and falling of the target trajectory contributed to energy efficiency via numerical simulations of an inverted pendulum and a bipedal robot. Then, we achieved efficient dynamic walking used by proposed target trajectory.
一般社団法人日本機械学会の論文
2011-09-01