4足歩行ロボットの力学的解析

概要

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Walking can be classified into"Static Walking"and"Dynamic Walking". It is said that Dynamic Walking is superior in both speed and consumed energy. This paper describes how the quadruped robot should walk dynamically to take these advantages. Such consideration is lacking in the past research. In walking, there are many parameters (for example, gait, speed, period, stride, and height of body, etc) . In this paper, it is proposed that these parameters should be determined by considering"Stability", "Maximum Speed"and"Consumed Energy". The relation between these three indices and those parameters are analyzed by means of Dynamics. The conclusions are the following: (1) The shorter a period is, the quadruped can walk the more stably. (2) The longer a period is, the quadruped can walk with wider stride and faster. (3) There is a period which makes the speed a maximum. (4) There is a period which makes the consumed energy a minimum for a given speed. (5) When comparing"Trot"gait (in which two diagonal legs swing at the same time) and"Pace"gait (in which two right legs or tow left legs swing at the same time), Trot is superior when considering the consumed energy, and Pace is superior when considering the maximum speed. Lastly, the validity of above arguments is proved by the experiments using the quadruped robot"Collie-2".
一般社団法人日本ロボット学会の論文