<論文>数値計算を利用した5脚歩行の歩容に関する研究

概要

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One of the strong points required for hexapod walking machine is its robustness for static walking. Even if one of six legs is disabled, static walking may be kept by remaining five legs. However, to maintain the static stability at maximum, gait study for five legged walking is necessary. Hence, this paper describes a method of gait study for five-legged walking under the condition of one leg disabled hexapod walking. Since it is very difficult to find out suitable gait by use of analytical method without any model such as insects'walking, we employed a numerical computation method by use of recent computer power. Some ideas are applied to reduce the number of computations. As the result, we have got two kinds of gaits that can maintain the gait stability margin at high level in the range of 0.6≤β<1.
東海大学の論文
2002-09-30