2P1-E03 Gait Analysis of Combined Rimless Wheel with Active Wobbling Mass That Vibrates Backward and Forward(Passive Walking Robot(2))

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  • 2P1-E03 前後に振動する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(受動歩行ロボット(2))

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This paper investigates the gait properties of a passive combined rimless wheel with an active wobbling mass that vibrates backward and forward in the body frame. First, we develop the mathematical model and numerically analyze the change in walking speed with respect to the frequency of the wobbling mass. Second, we perform experimental case study and validate the results obtained.

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