226 4足歩行動物の高速歩行時の歩容と固有振動モードの関係  [in Japanese] 226 Gait Pattern of Quadrupedal High Speed Walking and Natural Vibration Mode  [in Japanese]

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Abstract

The natural vibration modes which are similar to the gait pattern of quadrupedal walking are generated using the rigid body link model which are similar to quadrupeds' frame system. The natural frequency of the rigid body link model is close to quadrupeds' walking frequency when the physical characteristic of a horse or a cheetah is given to the rigid body link model. This paper deals with the possibilities that these quadrupeds realize effective and high-speed walking by using the natural vibration.

Journal

  • The Proceedings of the Dynamics & Design Conference

    The Proceedings of the Dynamics & Design Conference 2006(0), _226-1_-_226-6_, 2006

    The Japan Society of Mechanical Engineers

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