２足歩行ロボットの安定歩行を促進するインテリジェントシューズ

―抑制角と安定性の２次元解析―

抄録

A constraining foot mechanism is a method for enhancing stability of bipedal robot by using an extra pivot that passively support another point of foot. By designing the pivot so that it only touches on the ground if the robot's posture exceeds at a certain degree, the pivot-exchange effect functions as reducing the robot's forward angular velocity. It is like a safety guard that gets back the exceeding inclination to a normal posture. However, the design of appropriate height (constraining angle) was not yet given. But, in our previous experiments by using an actual robot, we found that setting the constraining angle so that the robot is in an upright posture seems to give a good stability performance. In this report, we try to ensure this assumption by mathematical simulation using 2D dynamical model of passive bipedal walker with constraining mechanism. By the simulation conducted in some conditions, It was shown that the upright posture assumption results in having a better stability.