Gait Analysis and Efficiency Improvement of Combined Rimless Wheel with Wobbling Mass

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  • TANAKA Daiki
    Nagano General Rolling Stock Center, East Japan Railway Company Nagono Branch Office
  • ASANO Fumihiko
    School of Information Science, Japan Advanced Institute of Science and Technology
  • TOKUDA Isao
    Faculty of Science and Engineering, Ritsumeikan University

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Other Title
  • 揺動質量をもつ連結型Rimless Wheelの歩行解析と性能向上の検討
  • ヨウドウ シツリョウ オ モツ レンケツガタ Rimless Wheel ノ ホコウ カイセキ ト セイノウ コウジョウ ノ ケントウ

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It was clarified that speeding-up of passive dynamic walking (PDW) of a combined rimless wheel (CRW) can be achieved by adjustment of the phase difference between the fore and rear legs. We discussed the mechanism from the viewpoint of overcoming the potential barrier, and pointed out that the trajectory of the whole center of mass (CoM) is significantly flattened according to the phase difference as one of the factors. This paper investigates the possibility of speeding-up of a CRW not by having the phase difference but by adding a passive wobbling mass that vibrates up and down in the body. Our expectation is that the wobbling mass would flatten the whole CoM trajectory to realize an efficient walking. First, we numerically show that the walking speed increases by the effect of the wobbling mass and that the gait efficiency changes with respect to the viscoelasticity. Second, we analyze the transition from anti-phase to in-phase phase oscillation focusing on the frequencies of the CRW and wobbling mass. We also show nonlinear characteristics such a high sensitivity to initial conditions and hysteresis phenomenon. Furthermore, the validity of the simulation results is verified using an experimental CRW machine.

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