2A2-F10 扁平足を有した歩行モデルのリミットサイクル規範三次元歩行制御法の構築

Abstract

Our ultimate goal is introducing energy-efficient walking patterns to actual humanoid robots. It is known that Limit Cycle based walking methods, e.g. Passive Dynamic Walking, have such a desired property. Unfortunately, the methods have been limited to simple planar biped models. In this paper, we propose a way of extending Limit Cycle based walking pattern generation to apply it to a 7DOF 3D biped with ankles, knees, an upper body and with flat feet. Our approach decouples roll and pitch motions in the frontal/sagittal planes, respectively. We derive the limit-cycle based walking pattern with the help of an extended planar model including ankles, knees and the upper body. Robustness of the motion is ensured via a feedback control method based on mechanical energy. The performance of the walking pattern generator in 3D and the controller is confirmed via numerical simulations.