人体の脚部と腰部の構造を模擬した受動機構による2足歩行

抄録

Man walks using the Natural vibration of musculoskeletal systems, such as a way of a leg or an arm, and torsion of the body. Passive dynamic walking is what imitated such persons walk, and it performs rhythmical movement which employed the mechanism characteristic efficiently. It can be used in two-footed walking robot, power saving and abbreviating gait control. We produced the test prototype imitating leg structure constituted hip joint, knee joint, ankle joint and flat foot of human by old research, and it realized the passive dynamic walking on treadmill. But locking waist position caused short step and tiptoe grounding, and it effected stability of passive dynamic walking. We produced parallel link and vertical slider imitating horizontal and vertical motion of waist to improve gait of passive mechanism and aimed at realization of bipedal passive dynamic walking near human in this research. Parallel link prevents legs from yawing with waist. Vertical slider changes tiptoe grounding to heel grounding. Those realized steady longtime passive dynamic walking.