Full-time 2 Leg Drive：床反力均等化制約がもたらす脚型ロボットの歩容パターン

抄録

Many animals with legs often display various and specific gait patterns. Many studies have focused how such a gait pattern are realized and why they are preferred for spatial locomotion. It is considered that the rhythmic locomotion efficiently transmits forces from external environment to internal in multi-bodies. But, another way of looking at artificial vehicles can perform stable locomotion, in which differential gears is mounted on a vehicle as a mechanism that absorbs a difference in angular velocity of each wheel due to a difference in reaction force and provides uniform rotational force. From these facts, a hypothesis could be raised, that is, the constraint of an equality in reaction forces from the ground could play an important role for low-energy-dissipative locomotion. To investigate the relations between the constraint of an equality in reaction forces and gait pattern generations, a Full-time 2 Leg Drive robot equipped with a differential gear that realizes floor reaction force equalization was developed. Further, by the hardware experiments, it was confirmed that the gait pattern was generated by the floor reaction force constraint between the legs.