二足歩行ロボットの力学と制御 : より本質的な歩行とは?

抄録

In this paper, we discuss a control scheme for a biped robot. There are two ways for designing a control law for a biped robot. One is a method based on a ZMP(Zero moment point), and the other is a method based on PDW(Passive Dynamic Walking). In this paper, we claim that the PDW is very important and essential in walking, and introduce a design concept based on the idea of PDW. The construction of this paper is the following. In Chapter 1, we briefly introduce the motivation of our research. In Chapter 2, we explain the idea of the ZMP. In Chapter 3, we show a history of the research of PDW. In Chapter 4, we show some interesting aspects in PDW. In Chapter 5, some design issues in a walking robot based onPDW. In Chapter 6, we show some future themes. Finally in Chapter 7, we conclude.