1P1-J15 半自動・準受動型乗用二足歩行機BiTrekerの提案(デジタルヒューマン)

概要

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In this paper, a semi-autonomous bipedal vehicle based on passive dynamic walking (PDW) principles is proposed. PDW is known as a mechanical system, which is designed to walk down on a shallow slope without active control. To date, some bipedal walking robots have been developed to carry a person on uneven terrains. However, these robots are fully controlled and actuated, requiring considerable power for walking. Neither, they don't utilizes a PDW mechanism ; nor do they don't use the balancing capacity of a human as like a bicycle or motorbike. This paper describes the basic structure of the PDW based human balancing bipedal vehicle and the process of its developments.
一般社団法人日本機械学会の論文
2008-06-06