二脚ロボットのための可解な歩行モデル
A solvable walking model for a two-legged robot
逆振り子と無質量の関節脚を用いて、凸凹した床や傾斜面でも歩行できる二足歩行モデルを提案し、閉形式で解けることを示した。
著者: Rui Dilão, Nuno Teixeira
分類: cs.RO
原文アブストラクト
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the alternating role of the legs, the standing and the trailing leg, and the conservation of energy of the pendular motion. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is solvable in closed form and is reversible in time, modelling the different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.