歩行パターンによるヒューマノイドロボットの脚モータ負荷分散の研究

―第一報 非対称歩行パターンによる左右脚負荷分散の提案―

抄録

This paper discusses leg motor load distribution in humanoid robots with asymmetrical gait. In many robots' researches and developments, motors are widely used and it is said that robots using motors can play an important role in many fields. However, there was a consistent problem that the robot could not walk stably for a long period because the temperature of robots' leg motor rose and robots could not walk continuously. Furthermore, this is a common phenomenon in other humanoid robots, and restrains robots' operating time. Given by this problem, we propose an asymmetrical gait that distributes motor load by asymmetrical landing on ground when robots are going to change the supporting leg. Specifically, we control landing periods of each legs. That allows adjusting each legs' temperature equally because the asymmetrical gait adjusts balance of motor load. This method prevents motors from overheating and making it possible for robots to operate for a long time.