特集 ロボットとその周辺技術
受動歩行の力学的原理と応用
キーワード:
passive walking,
limit cycle,
stability,
leg-swing motion,
level walking,
3D walking,
upper body
2017 年 25 巻 1 号 p. 2-8
詳細
2017 年 25 巻 1 号 p. 2-8
A passive walker can walk down shallow slope with no energy source other than gravity. This motion is very attractive because its gait is really natural and ideal. Moreover, the walker can exhibit a stable limit cycle. Dynamics of passive walking is very interesting target and important for understanding human locomotion and developing the biped robots. In this paper, we introduce principles and applications of passive walking.
