上体と遊脚制御を用いた二足歩行機の安定性解析

抄録

A previous study has depicted that the behavior of the swinging leg before the walking collision is affected by the walking stability. Here, we consider a walking biped model with a torso and an actuator on the hip to control the torso and the swinging leg. The controller of this model uses an angular feedback as well as an angular velocity feedback. We analyzed the walking properties, such as stability, when the control gain was altered. We depicted that the desired torso angle and the angular feedback gain influenced the walking speed. We discovered that we can vary the degree of retraction during walking by changing the angular velocity feedback gain. If the gait is stable, the model returns to a periodic gait cycle when the angular velocity is perturbed immediately after the walking collision. From our analysis, we can conclude that appropriate protraction is the most stable.