Flywheelを有する2足歩行ロボットの歩容

抄録

In this paper a bipedal robot with flywheel has been proposed. When a bipedal robot has no flywheel, it has been shown that the robot would have only one stable walking pattern to each initial translation speed and condition. This proposed robot with flywheel, however, can perform various stable stationary dynamical walking modes. Therefore, it may be easier to adapt for various walking conditions, for example, with slippery ground surface, a wide ditch, and frequent starts and halts.
Several theorems have been derived from the equation of motion for the proposed robot that are on the fundamental characteristics of the walking modes.
While the changes of walking conditions would influence on the stable mode of robot locomotion, stationary dynamical walking modes also influence on the interaction between the robot and the ground. To illustrate it clearly, a stationary dynamical walking mode map and a reaction patterns map have been proposed. The former would be a practical guide to the stable walking mode design; the latter would be helpful for designing a robust walking mode against slippery ground surface.