パラメータ励振による3リンク二足歩行ロボットの歩容生成

抄録

This paper proposes a gait generation method for a three link biped walking robot inspired by parametric excitation. The proposed robot consists of hip, swing leg and support leg with semicircular feet. The robot has two actuators at their joints between legs and hip respectively. The joints between support leg and hip is driven by actuators using reference trajectory tracking method. The joint between swing leg and hip is locked after the impact at the joint so as to walk continuously. Numerical simulations show this robot can walk, and solve foot clearance problems. By changing parameters, the walking performance, such as specific resistance and walking speed is improved.