落下衝撃緩和動作生成のための柔軟関節を有する一脚ロボットの動力学シミュレーション

抄録

In order to realize the deployment of a humanoid robot to a disaster site by parachute descent, it is necessary to generate a landing impact absorbing motion. This paper develops a dynamic simulator to demonstrate a motion of a one-legged robot with a Series Elastic Actuator (SEA) during the landing. First, the model parameters, such as spring and damping coefficients of the SEA, are identified with an optimization method by using the results of the impact experiment on the assumption of the linear spring-damper model of the SEA. Then, the dynamics simulation of the robot during the landing is carried out to evaluate the validity of the developed SEA model.