能動歩行機への抑制足形状の適用による歩行安定化

抄録

A constraining sole shape is known to provide stability effect when attached on the soles of passive and quasi-passive walking robots [1] [2]. This research shows the stabilizing effect of the constraining sole shape with respect to a change in road conditions when it is attached on the sole of an existing dynamic bipedal walking robot. For the constraining sole shape, we made an active constraining pin with height adjustment which is attached on the toe of an existing biped robot. The constraining pin will absorb excessive energy by the change of the center of rotation when the robot's posture exceeds from stable range. From the experiments conducted by a walking robot that performs dynamic walk in a fixed movement, it was shown that the stable walk were realized when walking on a down slope on which normal sole did not achieve stable walk.