四脚ロボットにおける体幹関節の弾性要素による負の仕事を減少させる効果

抄録

Energy loss is a problem in legged robots. If total mechanical energy is conserved, a legged robot continues running at constant speed. If the energy loss per step could be reduced by analyzing the energy outflow from the robot phase by phase, the resulting balanced speed would be faster. A major energy loss factor is negative work (to control the joint angles) of the actuators. The purpose of this study is to establish a control method for quadruped robots, by which the walking speed is greatest with limited input energy. As a first step, we aim at clarifying the mechanism of decreasing of negative work when elasticity of trunk joint exists.