抄録
In the present paper, a new motion control algorithm of walking machine using crutches for determining reasonable gait style, initial configuration and actuator input trajectory to achieve various desired step length will be discussed. First of all, two different gaits, swing-to- and dragging-gait and typical pattern of actuator input trajectory regarding those two gaits were defined. Seondly, some dominant parameters, maximum stroke and dicerelation of linear actuator, were chosen to investigate reasonable parameter region called gait feasible region to achieve the avobe-proposed gaits. In addition, initial condition of the apparatus to start walking were also determined. By using a prototype walking machine, effectiveness of the proposed methodology has been demonstrated by achieving several different desired step lengths in the swing-to- and dragging gaits.
