著者

秋元 俊成 松元 明弘

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.733, pp.2537-2542, 2007-09-25

被引用文献数

4

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In this paper, we introduce a new mechanism of quasi-passive-dynamic-walking machine which uses actuators just only at ankle joints. First, we analyzed about basic mechanisms of passive dynamic walking. So, we made and modeled the passive dynamic walking machine that walks down the slope. Experiment of the walking was compared with the numerical analysis, which showed the validity of the model. And, these were analyzed from the energy point of view. Second, we proposed a new control method of quasi-passive-dynamic-walking based on the result of analysis of passive dynamic walking. The new method was confirmed by the numerical analysis on a horizontal plane. Finally, ankle-driven type of quasi-passive dynamic walking machine was designed and developed. Experiment of the walking on the horizontal plane was done. That result shows the validity of the idea.