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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10668

Title: 連結型Rimless Wheelの受動歩行とその性能解析 : 前後脚間の位相差の調節による高速化
Authors: 浅野, 文彦
井上, 遼祐
田中, 大樹
徳田, 功
Keywords: Combined Rimless Wheel
Passive Dynamic Walking
Phase Difference
Potential Barrier
Issue Date: 2012
Publisher: 日本ロボット学会
Magazine name: 日本ロボット学会誌
Volume: 30
Number: 1
Start page: 107
End page: 116
Abstract: This paper investigates passive dynamic walking and its efficiency of a combined rimless wheel (CRW) that consists of two identical 8-legged rimless wheels. First, we introduce a mathematical model of the CRW and develop the system equations. We then numerically show that stable passive-dynamic gaits can be generated regardless of the phase difference between the fore and rear legs. Second, we show that the walking speed is maximized when the phase difference is nearly equal to the half inter-leg angle through numerical analysis, and experimentally verify the validity using our prototype CRW machine. Furthermore, we discuss the inherent speeding-up mechanism from the potential barrier point of view.
Rights: Copyright (C) 2012 日本ロボット学会. 浅野文彦, 井上遼祐, 田中大樹, 徳田功, 日本ロボット学会誌, 30(1), 2012, 107-116.
URI: http://hdl.handle.net/10119/10668
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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