346 分散制御による多自由度振動系の共振点駆動 : 4足歩行動物の固有振動に及ぼす脚部関節の影響

概要

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Quadruped animals switch gait patterns with speed for energy-effective movement. An experimental apparatus which has a simple structure modeled after the actual musculoskeletal system of a quadruped animal was made, and it was shown that the apparatus has natural vibration modes similar to the gait patterns of quadruped animals by a past study. However, it swings to the back and forth symmetry because the leg of the experimental apparatus was considered to be rigid pendulum. Quadruped animals walk by alternately repeating a different movement in the swing phase and the stance phase. To clarify this phenomenon, an experimental apparatus which has a simple structure modeled after the leg of a quadruped animal is made. And it is shown that the apparatus has natural vibration modes similar to the movement of leg when quadruped animals walk. Next, the apparatus is driven at natural frequency by decentralized control. Finally, the relationship between the energy consumption and driven frequency is examined by using apparatus.
一般社団法人日本機械学会の論文
2011-09-05