| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Outline of Final Research Achievements |
We achieved the following results through theoretical investigations of motion analysis method for limit cycle walking of legged locomotion robots. We devised a method for deriving fully-analytical solutions of the state error in limit cycle walking that achieves constraint on impact posture by using linearization of motion and quadratic approximation of mechanical energy. We then developed an analysis method for the stability and convergence property in limit cycle walking, and the result obtained made it possible to determine the behavior of hybrid zero dynamics in no time without conducting numerical simulations. Furthermore, we clarified the change tendency of convergence property with system parameters and the relationship between the stabilities of the stance and collision phases through gait analysis based on the proposed method.
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