連結型Rimless Wheelの受動歩行とその性能解析 : 前後脚間の位相差の調節による高速化

• 浅野, 文彦

• 井上, 遼祐

• 田中, 大樹

• 徳田, 功

書誌事項

タイトル別名

• レンケツガタ Rimless Wheel ノ ジュドウ ホコウ ト ソノ セイノウ カイセキ : ゼン アトアシ カン ノ イソウサ ノ チョウセツ ニ ヨル コウソクカ
• Passive Dynamic Walking of Combined Rimless Wheel and Its Efficiency Analysis : Speeding-up by Adjustment of Phase Difference between Fore and Rear Legs

抄録

This paper investigates passive dynamic walking and its efficiency of a combined rimless wheel (CRW) that consists of two identical 8-legged rimless wheels. First, we introduce a mathematical model of the CRW and develop the system equations. We then numerically show that stable passive-dynamic gaits can be generated regardless of the phase difference between the fore and rear legs. Second, we show that the walking speed is maximized when the phase difference is nearly equal to the half inter-leg angle through numerical analysis, and experimentally verify the validity using our prototype CRW machine. Furthermore, we discuss the inherent speeding-up mechanism from the potential barrier point of view.

identifier:https://dspace.jaist.ac.jp/dspace/handle/10119/10668

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 30 (1), 107-116, 2012

  日本ロボット学会

キーワード

• Combined Rimless Wheel
• Passive Dynamic Walking
• Efficiency
• Phase Difference
• Potential Barrier

詳細情報

• CRID: 1050282812515056768
• NII論文ID: 10030209006
• NII書誌ID: AN00141189
• ISSN: 02891824
• NDL書誌ID: 023465915
• Web Site: http://hdl.handle.net/10119/10668
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I023465915
• 本文言語コード: ja
• 資料種別: journal article
• データソース種別:
  • IRDB
  • NDL
  • CiNii Articles