リミットサイクル歩行機械に適した足部機構の開発

抄録

A mechanically stable walking motion constructed as a limit cycle, such as in passive dynamic walking, is known for its efficient energy use during movement. The effectiveness of this walking pattern, known as limit cycle walking, has sparked interest, and is expected to be applied to everyday walking on level ground. Additionally, it is known that the shape and characteristics of the foot part of legged robots performing limit cycle walking contribute to the stability of walking motion and movement efficiency. This study aims to develop a foot mechanism inspired by human foot characteristics during two-legged limit cycle walking. Furthermore, the effect of foot characteristics of legged robots on limit cycle walking is experimentally verified, and the improvement of locomotion efficiency of limit cycle walking machines is examined.