受動歩行原理を用いた動歩行二足ロボットの開発

抄録

In this paper, we aim to reduce energy consumption during walking by applying the passive walking principle to biped robot that performs dynamic walking. First, a new equation of motion is obtained by treating the gravity component received by each link of a 4-link passive walking model with knees and arc feet as the output of a dynamic walking biped robot moving on flat floor. To account for the dynamic effect of the passive walking mechanism on the dynamic walking biped robot, the appropriate dimensions of the arc feet are derived from the equation of motions. In walking tests with the actual robot, the supporting leg tilted backward, resulting in a fall. However, the walking conditions are different between the passive walking model and the actuator biped robot, and it became clear that the coordinate system method and the output addition method need to be verified again.