二足歩行ロボットの最適運動軌道計画

抄録

Locomotion of the higher animals is provoked in accordance with rhythm generated in the spinal cord, and which is corrected according to visual and somatosensory information during locomotion. Thus, rhythm seems to be a reference in locomotion control of biped robots. On the basis of those physiological knowledge, we proposed a rhythm-based locomotion control scheme for biped robots. In the scheme, rhythm may be designed on the basis of observations of human locomotion, but it should be designed to accord with kinetic characteristics of robot for reducing the load that is put on actuators.
In this paper, we regard the optimum rhythm designing problem as an optimum trajectory designing prob-lem, and formulate it to get a trajectory by following which a biped robot is able to locomote with minimum amount of kinetic energy. In the optimum trajectory design problem, velocity or acceleration continuity of links is used as a constraint condition, and Genetic Algorithm is used for solving the problem. It is found out through simulations that similar trajectory patterns in shape are obtained under both conditions, and a biped robot stably locomotes with satisfying ZMP criterion using minimum kinetic energy by utilizing its falling-forward motion.