1P1-A17 ばねを用いてエネルギー消散を低減する歩行モデルの検討

概要

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The robot based on the biped walking like human, kinetic energy is lost whenever its leg collide with the ground. 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