2足歩行機械の非定常歩行 : 第1報,脚機構の運動

抄録

This paper describes motions of leg mechanisms of a biped walking machine which walks straight on flat grounds, changing stride or walking speed. A stride-adjustable leg-mechanism which is composed of an ankle-path-generator equipped with a crank-length adjusting mechanism and a foot -driving mechanism is proposed in order to change the stride. Input motions of these mechanisms are determined under the conditions on motions of feet and upper body. The biped machine in which the leg mechanisms are installed can walk without a swing motion or a backward motion of the upper body.