抄録
This report intends to apply the effectiveness of the passive walker to humanoid robots or welfare apparatuses such as the artificial legs or protheses in the future, and adds jointsto the knees of a quasi-passive walker. Further, we design the femoral part and the lower thigh of the robot with knee joints for the purpose to prevent from the knee buckling, and to realize a walking gait which uses knee joints motion more explicitly. The design is decided according to time-history analysis using the numerical simulations with multi-body dynamics. At first, this study that investigates conditions with respect to the moment of inertia of the femoral part and the lower thigh which can achieve knee joint extension before the heel strike at the last of double pendulum motion of swing phase in walking gait to prevent knee buckling. Furthermore, this study investigates the condition for the radius of curvature of the front part of foot to maximize the knee joint flexion angle at toe off to use knee joint motion more positively. Finally this study show that the walking gait, which can prevent the knee buckling and uses knee joint motion more positively, can be obtained by applying these results by a walking simulation.
