METHOD OF DESIGNING TWO-LEG WALKING ROBOT AND TWO-LEG WALKING ROBOT

摘要

A method of concurrently designing motion patterns and mechanisms useful for shortening the design time of a two-leg walking robot and improving its design accuracy, the method comprising a plurality of steps (S1, S2) for representing the two-leg walking robot (1) in different models and designing it based on the models in each step of designing the two-leg walking robot (1), wherein steps (S1, S2) include the step of referring to, in the next step, design data obtained in the preceding step. The steps (S1, S2) include the first step of representing the two-leg walking robot in the model (S11) of combining 3-D components and determining by a first evolutionary calculating method physical parameters and motion patterns in the model of combining 3-D components, and the second step of determining by a second evolutionary calculating method the disposed positions of components parts deposed in each 3-D component. An evolutionary calculating method can use a genetic algorithm, and a motion pattern can be generated by a neural network (S12). Accordingly, an optimum design in each step can be automated, and a design accuracy and a design efficiency can be improved.