非直線状の脚フレームをもつコンパス型2脚ロボットの受動歩行解析

抄録

It is well known that the passive compass-like biped robot can walk down a gentle slope without any external energy sources and sometimes exhibits period-doubling bifurcation and chaotic motion according to the system parameters. This paper discusses the adaptation ability of a non-straight-legged compass-like biped robot to steeper or gentler slopes. First, we introduce the robot model that consists of two identical non-straight-shaped rigid leg frames and develop the equations. Second, we perform numerical simulations to observe the fundamental gait properties of the generated passive compass gait. Based on the results obtained, we discuss the favorable shape of the leg frames for increasing the stable domain.