協同現象を活用した四脚受動歩行機械の引き込み領域の拡大

摘要

Recently, passive dynamic walkers have been attracting lots of attention in the field of leggedrobots, in the hope that they contribute to realize natural and low-energy-consumption walking. Despitethese remarkable properties, current passive dynamic walkers have serious issues that have to be resolved,particularly in its potential for coping with environmental perturbation: they are significantly sensitive tothe change of gradient and initial condition. In light of these facts, this study discusses the enlargement ofattractor basin of a quadruped passive dynamic walker, exploiting cooperative phenomena by increasing itsdegrees of freedom.