2P1-D02 超多脚型受動的動歩行ロボットの実現に関する研究

概要

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A passive dynamic walking robot can walk down a gentle slope without any actuator or controller, only by potential energy. Its remarkable point is that its gait is very natural, so it is thought that the principle of waling exists in the passive dynamic walking. By current researches, the passive dynamic walking is confirmed in 2 and 4 legs, but it is considered that it is also important to research the passive dynamic walking in more than 6 legs to reveal the principle of waking because there are many creatures which have more than 6 legs. In this research, we analyzed the passive dynamic walking which have more than 6 legs using a simulator. On the simulator, we made "Quartet IV", which is the passive dynamic walking robot. To realize a walk, we changed the degree of freedom of the body and the angle of inclination of the floor. As a result, we could confirm the passive dynamic walking even in 20 legs.
一般社団法人日本機械学会の論文
2009-05-25