上体リンクの目標角度と重心位置が水上歩行性能に与える影響

抄録

This paper discusses the relationship between the state of the upper body and the robot’s gait efficiency above an approach based on a stable gait for walking on water. First, we introduce a 6-DOF walking model and outline the system dynamics. Second, we observe the robot’s gait efficiency in terms of walking speed, stride length and step period by varying the absolute angle and length of the upper body.