1A1-P09 人間の足部機能を有する2脚歩行ロボットの開発 : 足部のモデル化とパラメータの検討(脚移動ロボット(1))

抄録

The goal of this study is to develop a robot foot with the arch mechanism of a human foot. Many researchers consider that the arch mechanism has a role of shock absorber and controlling body posture. We believe that the mechanism reduces the complexity of control of biped robots. We previously reported that we developed a biped robot using the Chebyshev link mechanism with only one actuator and a robot foot with an arch mechanism. In this paper, we report the modeling of the robot foot and some analytical results. First of all, we constructed a model of the mechanical foot in order to investigate such foot parameters as stiffness and damping factor. The model is represented as a two DOFs equation of damped oscillating motion. We performed numerical analyses using Runge-Kutta method, and we found that the simulation results were very similar to those of experiments.