伸縮脚を用いた衝突姿勢の非対称化に基づく高速動的歩容生成

抄録

This paper proposes a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot's center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot's telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. First, we introduce a planar rimless wheel model with telescopic legs, and investigate the validity of the stance-leg extension control. The basic properties and efficiency of the generated gait are also numerically analyzed. Second, we extend the method to a planar telescopic-legged biped model, and investigate the validity through numerical simulations. Furthermore, we discuss the role of asymmetric shape of human foot from the brake effect point of view through efficiency analysis taking the ankle-joint actuation into account.