抑制足形状による2足受動歩行の矢状面・前額面方向での安定化の効果解析

抄録

It is known that the walking is stabilized by using Constraining Sole Shape in passive dynamic walking biped. The reason is that an excessive body inclination is suppressed when the top of shoe touches on the ground. This effect is explained as the decrease of angular velocity caused by the change of the center of rotation from heel to the toe on a stance leg. The rate of decrease of angular velocity is calculated by using foot length and angle of ankle on walking model. By this, we analyzed this constraining Sole Shape effect by 2D numerical simulations on both sagittal plane and lateral plane. By these simulators, plots of stance leg angle and walking animation are derived. From the results, we confirmed stabilization by suppression of excessive body inclination on both planes.