1C2-2 足部節の変形を考慮した二足歩行シミュレーションモデルの構築(GS2-1:歩行訓練・歩行支援・歩行評価I,一般セッション)

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  • 1C2-2 Bipedal Walking Simulation Model Including Deformation Behavior of Foot Segment

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This paper describes construction of forward dynamical simulation considering foot segment deformation behavior. Foot segments, mechanical interface between external environment and body, are modeled as finite element model and other body segments are modeled as rigid link structure. Coupling these two models and solving equation of motion, body motion is generated. In order to validate the coupling method can represent foot-ground contact and stable standing position, simple simulation including non-contact and contact environment were conducted.

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