345 分散制御による多自由度振動系の共振点駆動 : 4足歩行の歩容の形成

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Quadruped animals switch gait patterns with speed for energy-effective movement. This is similar to the phenomenon that excited natural vibration modes switch with drive frequency in a multi-degree-of-freedom system. Therefore, in this paper, it is assumed that quadruped animal move by using the natural vibration of their own musculoskeletal system. First, experimental apparatus consists of a body, a shoulder / waist and four legs. Four legs are attached to four DC motors fixed at the shoulder / waist. It is verified that there are natural vibration modes look like the trot, pace, and gallop by free vibration. Next, the transfer function is measured in order to design local feed back controller. The transfer function is from the excitation to the vibration detection at right front. There are natural vibration frequencies of trot, pace, and gallop modes in the gain characteristics of the transfer functions. When the excitation point corresponds to the vibration detection point in the multi-degree-of-freedom system, the phase lag becomes 90° at all the resonance frequencies. Therefore, the controller that has a phase lag of 90° is designed. Finally, self-excitation at natural vibration is generated by using four DC motors with local feed back controller. Natural vibration modes look like the trot, pace, and gallop are excited. Efficient driving at resonance point is indicated by measuring current in DC motor.
一般社団法人日本機械学会の論文
2011-09-05

345 分散制御による多自由度振動系の共振点駆動 : 4足歩行の歩容の形成

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