二脚歩行ロボットにおける柔軟体幹機構および腕振り運動の効果

抄録

Many researches on bipedal walking robot have focused on dynamics of lower body. In this study，we investigated an effect of arm swinging of a bipedal robot with flexible trunk. A simulation model based on the mass distribution of the human body is constructed. We realized cyclic locomotion and verified the effect of the arm swinging. The simulation results showed that the distance along walking direction and duration of the walking are changed according to a magnitude of arm swinging.