リミットサイクル歩行機械への制御入力値の設計

―周期入力の位相操作による歩行特性の評価―

抄録

Passive dynamic walking is a walking motion on a gentle slope using only gravity and robot dynamics. In this study, the control method for passive dynamic walking is based on the Central Pattern Generator (CPG), which is a locomotor function of living organisms. We were able to make the robot walk on a level ground by using the motion command signal obtained by trial and error in a previous study. A method to control walking speed by changing the gait was also developed using CPG. In this study, a leg-walking machine that can perform passive dynamic walking on level ground is used to improve the movement efficiency of the control method using CPG.