歩行シミュレータを用いたペース歩行の3次元動歩行解析

抄録

A superior simulator is required for the purpose of analyzing dynamic walking and developing its control methods efficiently. Especially, it is very important to model a collision phenomenon at the leg-support-exchange exactly. In this study, a 3D walking simulator in which the collision phenomenon is modeled using the Lagrangian impulsive equation is proposed. The pace gait considered in this paper is the walking in which lateral legs form pairs. In this study, dynamic control of pace gait based on motion control in the lateral plane is proposed. In the lateral motion, lost angular momentum at the leg-support-exchange is compensated by utilizing a gravity effect. The effectiveness of the proposed control method is confirmed by means of computer simulation. Finally, a reduced order model which represents comparatively well the motion of the walking system is derived by using dominant modes of the system. This reduced order model is very useful in the walking simulator and the walking analysis.