抄録
As a method to realize a high effciency and high-speed biped robot, we studied the self-excited walking of a fourlink biped mechanism with feet on level ground. The biped mechanism possesses a single motor at the hip joint and active lock mechanisms at both passive knee joints. We showed that the self-excitation control enables the three-degree-of-freedom planar biped model with feet to walk on level grond by mumerical simulation. From the parameter study of the biped model of 0.64m leg height, we found that stable walking locomotion is possible over a wide range of feedback gain, foot radius of no more than 0.3m and other link parameter values. Then we manufactured a biped robot 2 that was similar to the analytical model. After parameter modification, we demonstrated that the biped robot can perform natural dynamic walking on a level plane. It was also shown that the simulated results agree with the experimental walking locomotion.
