1P1-B16 大人サイズの受動歩行機の開発とヒト歩行との類似性(受動歩行ロボット)
詳細
In our earlier work, high stability of passive walking can be achieved by the global stabilization principle of fixed point. However, the walker is small size. In this study, the grown-up size passive walker with knee joint is developed. Especially, the new mechanisms synchronizing the lower parts of outer leg and making the inter-leg angle at heel-strike constant are adopted. The shape of arc foot is adequately designed. Furthermore, a similarity for the human walking is investigated.
