2A1-E07 乗用二足歩行BiTrekkerの研究 : 基本構造と試作・試乗・シミュレーション

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, they don't utilize a PDW mechanism; nor they don't use the balancing ability of a human as like a bicycle or motorbike. This paper describes the basic structure of the PDW based human balancing bipedal vehicle, shows the simulation for confirming the feasibility, and reports the test ride of the prototype machine.
一般社団法人日本機械学会の論文