自重により膝関節が固定される機構を有した劣駆動二足歩行機の歩行

抄録

This paper shows walking of an underactuated biped robot. This biped robot has a mechanism such that the knee joint is fixed by its own weight to the knee joint stopper when the knee joint is in hyper extension. Using this mechanism, we designed a gait that does not require knee joint torque of stance leg. The ability to walk with the proposed gait is confirmed by numerical simulations. We also designed a conventional gait such that the hips slightly lower and the knee joints are in flexion. We simulated walking with this conventional gait. As a result, the energy consumption of the proposed gait was lower than that of the conventional gait.