上体を有する２足歩行ロボットの上体前後傾運動様式による歩容影響解析

抄録

Bipedal walking locomotion is one of the characteristics of human behavior. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. In this paper, we studied the effect of two types of trunk swinging motion on gait. One is the forward swing motion based on the bisecting hip mechanism. Another is the backward swing motion based on the inverted double pendulum model. A numerical bipedal robot model with an upper body controlled by these methods walked down a slope. We evaluated the gait characteristics, walking speed, step length, and step time, during stable one step.