Compliant legを規範とした２足歩行ロボットの上体姿勢と歩行特性

抄録

Trunk behavior during walking is one of important factors for bipedal walking locomotion. Walking model based on passive dynamic walking is useful to evaluate the effect of trunk behavior on its gait. However, most these models have instantaneous double support phase. Walking model that includes in continuous double support phase such as a compliant leg model is necessary to study more human like walking. Therefore, in this paper, a planar bipedal walker with a trunk and virtual compliant legs walks on level floor to investigate the effect of trunk posture on its gait. The gait characteristics, walking speed, step length, and step time, during one step were evaluated via numerical simulations.