621 分散制御による多自由度振動系の共振点駆動 : 固有振動を利用した高効率2足歩行の実現

概要

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Human beings walk rhythmically. Passive dynamic walking is simulated such a human walking. Passive dynamic walking is very efficient, because it makes use of natural vibration of mechanical. The goal of this study is to realize more efficient and stable biped walking using natural vibration. In our previous studies, we proposed that the consistency of natural frequencies in swing and rocking is important for energy effective walking. In this study, Firstly, We make passive biped machine with subsystem which rotates like an upper body. This allowed the machine to walk longer distances with longer strides because the waist and free leg move in same phase. Next, We compensate for the damping of rocking motion. This allowed the machine to continue walking on flat floor. Finally, the local feed back controller mounted in DC motor which is fitted on each joint, it can realize walking which efficient as passive walking and stable.
一般社団法人日本機械学会の論文
2011-09-05