抄録
This paper deals with a control method for a kind of stable biped walking. Here studied is the dynamic characteristics of Compass Walk Model, which is adopted by J. Saunders et al. as the simplest model representing the basic characteristics of a human gait. This model consists of a body lumped mass and two massless legs which can rotate only in the sagittal plane.
The motion equation of this model in the sagittal plane is analyzed from the viewpoint of the stability of motion.
Main results are as follows.
(1) According to the ratio of the weight supported by two legs, the dynamic characteristics of this system can be classified into three basic patterns, that is, the stable, the unstable, and the constant-velocity motions.
(2) A variety of stable walking patterns can be realized by reasonable combinations of the basic patterns.
(3) Taking into consideration the acceleration pattern of human body in normal walking, a proper combination of the basic patterns is derived. Its behavior is shown in time domain and phase plane.
