起こし回転型受動走行と平衡点解析(機械力学,計測,自動制御)

概要

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A passive running robot can run down a gentle slope with no energy source without gravity. The trajectory of its running motion is a limit cycle. Therefore, passive running may give us an important insight to develop the biped running robots. For example, when we throw a bar to the ground, it can jump rotating. This phenomenon is called "hinged-movement". In this paper, we focus on passive running based on the hinged-movement. First, the hinged-movement is confirmed by experiment, and is modeled. Secondly, passive running based on the hinged-movement is demonstrated by experiment. Thirdly, the fixed point of passive running is derived analytically. Finally, the stability of the fixed point is demonstrated by simulation.
2010-07-25