ばね継手をもつ二脚モデルの歩行

概要

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Following the previous investigations about the walking of a bipedal model, in this paper, the complete walking model has been analyzed. The model consists of eight rigid links representing upper and lower legs, feet, the waist, and the upper body. They are jointed by pins together with torsional springs. Two hip joints are separated for a waist width and are connected to the femoral region of each leg. Each link representing the upper leg, the lower leg, and the upper body possesses its own weight at the center. This model walks with rotating the hip link and swinging the upper body back and forth. Hence, it will be possible to investigate the effects of the body swing and the hip twist on the human gait; moreover, to investigate the leg motion during the swing period.
長崎大学工学部,Faculty of Engineering, Nagasaki Universityの論文