1A1-P07 Gait Analysis and Experimental Verification of Combined Rimless Wheel with Wobbling Mass(Passive Walking Robot(1))

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  • 1A1-P07 揺動質量を持つ連結型リムレスホイールの歩行解析と実験的検証(受動歩行ロボット(1))

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This paper investigates the gait properties of passive dynamic walking of a combined rimless wheel (CRW) with a wobbling mass. We show that the walking speed increases by the effect of the wobbling mass and the gait efficiency changes with respect to the elasticity. We discuss the transition from inverse to normal phase synchronization from the frequency point of view. We then denote effect of initial angular velocity on the CRW gait and show a hysteresis phenomenon of in the walking speed. Furthermore, the validity of the simulation results is verified using an experimental CRW machine.

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