脚駆動力均等分配を規範とする歩容安定性の実機実験と数理解析

抄録

Animals produce a variety of gait patterns depending on their speed of movement. It has been suggested that animals move energetically and efficiently by changing their gait, and many studies on gait patterns have been conducted in various research fields. For example, the bipedal crow generates a walking gait at low speed and shifts to a hopping gait at high speed. The ultimate factors that generate such gait patterns have been actively debated. In this study, we focused on the mechanical property of equal distribution of floor reaction force of legs, based on the idea that there is a possibility of falling if the driving force of legs is not equalized from the viewpoint of body symmetry and dynamics, and manufactured a one-input, two-output underactuated biped robot with a differential gear in the powertrain. Furthermore, we investigated the gait pattern of the robot caused by the interaction with the environment by controlling only the input value, and discussed the transition phenomenon of the gait by mathematical analysis. The results suggest that the transition of the gait pattern can be explained by a bifurcation phenomenon with the magnitude of the input torque as a parameter.