B313 可変重力環境下におけるコンパス型2足歩行ロボットの受動歩行の解析と再現法の提案(OS2 ロボットのダイナミクスと制御2)

Abstract

In the future, astronauts will go to the moon and stay there for several weeks. Lack of experience of reduced might cause astronauts falling down. To prevent this risk, it is important to research human gait under variable gravity and propose significant method to train astronauts' walking before they go to the moon. There are several methods to simulate walking under variable gravity and one of the most major methods is unloading of the body by suspension (suspension method). However, suspension method has a problem that only body is unloaded but legs are not. In order to analyze the influence of lack of leg unloading, this paper compares the gait of suspension method and the gait under variable gravity using a compass-like biped robot. In this paper, we propose new method to simulate walking under variable gravity rigorously, In addition to suspension method, legs are actuated from hip and ankle joints to support the leg mass against the gravity. With proposed method, it is shown that simulation results conform to the gait under variable gravity.