引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御

摘要

It is difficult to stabilize the three dimensional biped passive walker in various environments because the range of the initial conditions for stable walk is narrow. In this study, a three dimen­sional biped passive walker was newly designed as a passive walk platform in order to make the success rate of the passive walk high. A new control method that would be able to stabilize the passive walker by using a mechanical oscillator was examined. The target path of the oscillator was generated by utilizing the frequency entrainment in order to synchronize the oscillator movement with the changing motion of the stance leg in the frontal plane. Stability of this passive walker was analytically examined by limit cycle of the frontal movement. A period of the changing motion of the stance leg was synchronized with the period of the swing leg by periodic input generated by the mechanical oscillator. It was demonstrated that the passive walker was stabilized when a frontal motion period was synchronized with a swing leg period in various slope angles. Consequently, it was experimentally examined that the passive walker could be stabilized on various slopes and flat floor.%近年，ヒューマノイドの省エネルギ化や環境適応性の向上などを目的として，受動歩行ロボットの研究が盛んに行われている．その発端となったMcGeαが示した受動歩行機は，本体のダイナミクスを利用した効率の良い歩行動作を実現することが広く知られている（1）．この受動歩行の安定性については，二次元コンパスモデルを基にGosw弧Iiら，ならびにGarCiaらが詳細に解析している（2川）．さらに池俣らは膝関節を有する二次元モデルを用いて，遊脚のダイナミクスに基づい た平衡点の局所安定化法を提案した㈹．