著者
兵頭 和幸 押村 健史 三上 貞芳 鈴木 昭二
出版者
一般社団法人日本機械学会
雑誌
ロボティクス・メカトロニクス講演会講演概要集
巻号頁・発行日
vol.2009, pp."2P1-C15(1)"-"2P1-C15(4)", 2009-05-25
被引用文献数
1

This paper verified the stability of the passive dynamic biped walk by not only indoor but also outdoor environments using a foot shape design to enhance stability. In outdoor environments, since the change of loose slope, small bumpy surface and the frictional force on a road surface are not constant, it is a difficult environment for realizing a walking. We propose about the walk stabilized comparatively in outdoor environment by control constraint mechanism.