床との衝突および摩擦を考慮した2足歩行ロボットの三次元運動シミュレーション

抄録

A three dimensional dynamic simulation method for a biped robot has been proposed considering collision and friction between the foot and the ground. This method is an extension of the simulation method of open link manipulators and the contact simulation method of rigid body mechanics. This approach enables the investigation of various control algorithms of biped locomotions, and it requires the less cost compared with the experimental investigation method. First, a dynamics of free-falling manipulator is described. And then, a plastic collision model is introduced to realize a constrained motion. Finally, the method is applied to the 20-axis and 15-axis biped robot. The simulation results of motions of walking, jumping, and tumbling down are shown.