冠状面の運動を考慮した受動型動的二足歩行の数値解析

抄録

Passive dynamic walking is a gait on a shallow slope without actuation and control. The walking cycle is generated by the dynamics and action of gravity only. A natural motion like a human walking and high efficiency are its merits. Passive dynamic walking is considered as a kind of self-excited vibration in which continuous motion governed by a nonlinear equation of motion and impact motion at switching of legs are repeated alternately. Many kinds of nonlinear phenomena are observed in this walk. In this paper, we propose an analytical model of a straight-legged biped passive walker taking into account the motion in coronal plane as well as sagittal plane. Also, the steady state solution is investigated numerically. Furthermore, the effect of ankle springs on the stability of walking is studied.