物理的パラメータ変化を有する受動的動歩行ロボットの安定性の解析

抄録

In our previous study, we proposed and verified a method to design a legged robot capable of passive dynamic walking. The passive dynamic walker has a feature that stay walk even if environment or its parameters, such as leg length or slope angle, are changed during walking. The design method uses passive dynamic walking’s adaptive behavior. In the method, physical parameters of a passive dynamic walker is changed during walking. This paper disscusses the stability of a passive dynamic walker designed by the proposed method. We designed a passive dynamic walker and verify that the passive dynamic walker is stable eve if parameters are changed.