歩行補助ロボットによる段差歩行のためのセンサ制御系の開発

抄録

The goal of our study is to develop sensing and control systems for walking on a step using a wearable robot. Our system consists of (1) sensing of a bump from a movement of a walker, (2) detecting a foot placement state related to the bump and (3) generating gait patterns of stepping up and down for the bump. In the generation of gait patterns for the bump, toe trajectories are generated according to the height of the bump to avoid the collision of the swing leg and the bump. A hip trajectory is generated by the optimization technique to minimize the sum total of joint angular jerk of the robot subject to the constrained condition of the hip position and velocity at toe-off. Each joint angle trajectory is calculated from the generated trajectories using inverse kinematics equations. We examined the feasibility of the proposed sensor and control systems for two kinds of bumps with different height.