2A2-E03 能動的な揺動質量を持つ連結型リムレスホイールの歩行解析 : 位相差に着目した同期特性と歩行速度の関係(受動歩行ロボット(1))

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  • 2A2-E03 Gait Analysis of Combined Rimless Wheel with Active Wobbling Mass : Relation between Synchronous Performance as Phase Difference and Walking Speed(Passive Walking Robot (1))

説明

This paper investigates the passive gait properties of a combined rimless wheel (CRW) with an active wobbling mass that vibrates up-and-down at a constant frequency in the body frame. Through numerical simulations, we discuss the change in the gait properties by using two criteria; one is the walking speed and the other is a function that represents the synchronous performance between the CRW and the wobbling mass.

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