生体歩行計測に基づく足首駆動歩行シミュレーション  [in Japanese] Simulation of Ankle-Driven Walking Based on Human Walking Analysis  [in Japanese]

We're developing walking robot with the object of bringing the walking of robot close to that of human utilizing pendular motion of legs. First, human gait analysis has been conducted in the study. In particular, we measured joint angle variation and myoelectric signal at a normal walking pace, focusing on the ankle mobility. From the result of the measurement, we realized that ankle mobility of supporting leg not only provides energy in the direction of travel by kicking back but also leads idling leg to swing forward. Then, we conducted modeling of ankle-driven walking and reproduced the motion using highly simplified model. As the result, walking driven only by ankle was realized in simulation. Therefore, it is expected that the system could not only be used for walking robot but also be applied to walking aids or artificial legs, because it reproduces a walking utilizing pendular motion of legs effectively due to the hip of free joint, and it is possible to reduce the number of actuators.