2P1-D04 弾性要素を活用した受動的ロコモーションの背後に潜む多重時間スケールの統合

概要

論文の詳細を見る
In this study, we discuss the multi-timescale integration principle underlying passive dynamic locomotion, focusing on body's elasticity of a bipedal robot. To this end, we have investigated how the body's elasticity influences locomotion patterns generated by a passive dynamic bipedal robot. Through our simulations, we have found that two elastic parameters, namely leg spring constant and hip coil spring constant, play a pivotal role as to which of various kinds of stable gait patterns are generated. This mechanism is the key to adaptive function underlying passive dynamic locomotion by exploiting elastic elements, including walking, running, and skipping. To the best of our knowledge, this has not yet to be addressed and studied so far. Our results shed new light on the multi-timescale integration principle underlying adaptive bipedal locomotion.
一般社団法人日本機械学会の論文
2009-05-25