2P1-T05 床面との滑り接触を考慮した上体付き2脚ロボットのスキップ歩容生成

Abstract

This paper investigates the possibility of skipping gait generation of an underactuated bipedal humanoid that walks on the limited friction surface. We develop the model of a planar bipedal humanoid and design an output-following control. The simulation results show that the robot can generate stable skipping and walking gaits in different range of the control speed of the swinging legs. We also discuss about the properties of the both generated gaits through comparison of the gait efficiencies, and numerically show that the walking speed in both gaits tends to monotonically increase as the control speed of the swing-leg increases.