倒れ込み現象を足裏形状により抑制した受動歩行の安定化

摘要

受動歩行は，McGeerをはじめとして近年研究がrn進められ，アクチュエータを用いず，重力場のみで歩rn行を可能としたことで，そのエネルギーの効率性からrn多くの研究者が注目している．足形状に関しては，経rn験的に円弧足が使われてきたが，歩行に必要なエネルrnギーに注目し，浅野らの解析が進んでおり，主にrn半円足による転がり効果を偏平足での足首回転によっrnて再現し，エネルギーの効率性に注目した比較を行っrnた上で半円足形状の優位性を示している．%This paper proposes a foot shape design to enhance stability of passive dynamic walk, by constraining fall down phenomenon in both sagittal and lateral planes. The falling down effects in passive dynamic walk is divided into those in lateral plane and sagittal plane. In lateral plane, limiting swing from side to side is effective to avoid falling down in this plane. This is realized by preparing limiter shape in lateral direction, such as two separate sub-foots placed apart in parallel. In sagittal plane, stability of walk is kept by constraining fall down phenomenon toward moving direction. A constrainer attached in front of a foot at the support leg will avoid this overhang. A prototype of a foot that realizes those two constraining effects into a 3D shape design is proposed. We show that the constraining effect by the proposed foot shape is effective for a walk comparing to an arctic foot shape.