2013 Fiscal Year Final Research Report
Development and Stability Analysis of 3-D Passive Dynamic Walking with Spherical heels, flat feet and ankle springs
| Project/Area Number |
23760247
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama University of Science |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
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| Keywords | 2足歩行 / 受動歩行 |
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| Research Abstract |
The purpose of the study is to realize a 3D dynamic biped with flat feet, ankle springs, and spherical or arc shaped heels, which is based on passive dynamic walking mechanism. First, we developed a 3D passive dynamic walker with flat feet and ankle springs, and analyzed its gait using various sensors. As a result, we found that ballast attached to the legs could stabilize 3D biped gait critically. Moreover, we observed that ZMP trajectory drew `8' shape, which was similar to that of human's gait. This result suggested that the shape of heel should be arc (i.e., did not need corners, such as a square), and therefore, we introduced an arced sole for the prototype biped. Secondly, we attempted to develop a 3D dynamic biped on the horizontal surface using oscillation of telescopic knees. As a result, we achieved 3D dynamic biped walking, and also revealed frequency response properties of the walking gait.
Moreover, we observed two modes of the gait.
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