二関節筋を模した遊星歯車機構による着地時の衝撃抑制制御

抄録

In this paper, we introduce a mechanism called bi-articular muscle mechanism to a walking robot and aim at shock suppression control for landing impact by floor. The bipartite muscle mechanism is capable of outputting a large force in the direction connecting the toe and the waist of the robot, and there is already a prior study on vertical shock suppression control using this. However, this technique has not been optimized for bipedal walking. Therefore, in this paper, we focused on suppression of impact during landing of bipedal walking and study control of suppressing shock caused by floor reaction force by using bi-articular muscle mechanism.