不整地歩行を対象とした位相最適化に基づく柔軟足部機構の開発

抄録

To improve stability when walking on rough ground, a flexible foot mechanism was designed based on the geometry obtained through topology optimization. The foot is equipped with springs, dampers, and plate springs to follow the ground and reduce the effect of rough ground. Analysis and testing on the actual product confirmed the reduction of inclination in several rough terrain patterns and demonstrated the foot's ability to reduce reaction forces from rough ground.