二足歩行における能動膝関節拘束制御と仮想干渉駆動による歩行パターン切替え制御

抄録

In our previous works, we have proposed “virtual passive dynamic walking” with virtual gravity for biped robots in order to realize active walking on the level ground without any gait design in advance. In this paper we discuss some control problems of a kneed biped robot and propose “modified compass-like virtual passive dynamic walking” with active knee-lock algorithms in order to avoid “foot scuffing” problem during the single support phase. Furthermore, a virtual coupling control law is proposed which can realize variable walking pattern with respect to the robot's energy levels. By the effect of the control law, the robot which is a hybrid dynamical system can be regarded as a passive system which does not include any collisions, and variable walking pattern can be realized without loss of properties of a virtual passive walk. The validity of the proposed methods has been examined by numerical simulations.