Walking Pattern Generation of Biped Walking Vehicle in Consideration of Passenger's Passive Dynamic Model

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  • 搭乗者の受動的運動を考慮した人間搭乗型２足歩行ロボットの歩行パターン生成
  • トウジョウシャ ノ ジュドウテキ ウンドウ オ コウリョシタ ニンゲン トウジョウガタ 2ソク ホコウ ロボット ノ ホコウ パターン セイセイ

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Abstract

This paper describes a passive dynamic model of a passenger for a biped walking vehicle. The model consists of a lower-limb's model fixed on the robot's waist and a particle model of an upper body connected to the robot's waist through springs and dampers. The stiffness and damping coefficients are verified through waist-shaking experiments by using a force/torque sensor under the seat that is mounted on the robot's waist. A walking pattern generation that enables stable walking even if a passenger sits naturally on the seat is also described. This stable walking pattern is generated by an iteration method based on Fourier Transformation. The effectiveness of the proposed method is confirmed through walking experiments.

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