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

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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.