四脚歩行ロボットの体幹剛性と歩行安定度に関する研究

抄録

In this study, we investigated the walking stability of quadrupedal locomotion at the various walking condition. This study aims to clarify the relationship between body stiffness and walking speed, and gait pattern. To do that, we introduced a simple model of the quadrupedal robot as a two-inertia model, and the external force from the legs’ contact points was simply modeled as a periodic twisting torque acted to the body trunk. Numerical simulations conducted a parametric study. The results show that good trunk stiffness gains walking stability according to each gait pattern.