303 受動歩行における着地時のエネルギー損失の低減(歩行ロボット,OS-17 ロボットのダイナミクスと制御,総合テーマ「伝統を,未来へ!」)

概要

論文の詳細を見る
In Passive walking robot, kinetic energy is lost whenever its leg is landing. An expression of this energy loss is derived as speed ratio from equations of plastic collision between typical biped waking model and the ground. According to a derived expression of speed ratio, energy loss increases as a step is lengthened. However, it is necessary to lengthen a step to increase walking speed. In this paper, first, a walking model using spring for saving kinetic energy as potential energy is proposed. Then, performances of proposed walking model are evaluated by numerical simulation based on rigid multibody dynamics. Finally, parametric excitation by the vibration of spring is examined about a proposed walking model.
一般社団法人日本機械学会の論文
2010-09-14