重心位置変化による受動的動歩行ロボットの歩幅の制御

抄録

Passive dynamic walking robot show a walking that only use its dynamics and gravity. The passive dynamic walking behavior depends on robot's parameters and environment. Therefore, if parameters of robot, such as leg length, mass and center of mass, are changed, the robot gait will be changed too. And also, it can realize a smooth walking with exceedingly simple mechanism. These features suggest that passive dynamic walking robot has a specific body structure that is easy to realize a smooth and high efficiency walking. Using these behavior, this paper proposes a control method of stride of passive dynamic walking robot. A unique point of the proposed method is that the stride is controlled by changing CoM of each leg although adding torque to joints is quite popular technique for controlling robot's walking.