Abstract
従来のロボティクス分野では，ロボット機構を構成する部材の強度や安全性を加味した機構設計や姿勢決定，動作計画などはほとんど行われていないと言える．しかし，ロボットの動作が高速化するにつれ，外界の物体との接触時に機構内に生じる衝撃力が増し，部材破壊の可能性が高くなると考えられる．本研究では，ロボット機構の目標軌道から，その機構が地面と接触する際に発生する衝撃力をリアルタイムで解析するシステムを開発した．本報告では，簡単な歩行モデルに対する適用例を示す．
Generally, an impact force or a shock wave produced in constituting members of a robotic architecture was not a serious issue. But as the robotic architecture becomes maneuverable in faster motion, the shock wave produced in the mechanism increases, as well as the danger of the mechanical destruction. In this research, a prediction system using Finite Element Method, which computes the impact force produced in the contact situation is developed, and it is verified by carrying out some simple numerical tests with a biped. robotic model. As a result, it is observed that the vibration produced by impact force increases not only in the case of grounding, but also in the case of releasing contact with short time interval.