2B2-3 CPG歩行シミュレーションを利用した履物型移動アシスト装置の安定性解析(OS10:生体モデリングとロボットシステム)

概要

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Wearable mobile base walking assist system is simulated by the developed bipedal simulator. The simulator employs Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG based walking pattern is one of the candidates for simulating human walking. The average Japanese body dimensions data are applied to the bipedal model so that human walking efficiency is evaluated on the simulator. The effectiveness of the proposed simulator is confirmed by comparing between the real human walking and the simulated walking in the term of the shape of swing leg trajectory, the data from the pressure sensor and the feasibility of the prototype mobile assist system. The trial production is developed and the experimental result shows effectiveness of the bipedal simulator.
2011-09-01