ニホンザル型四足歩行ロボットによる歩行シーケンスと体重心との関係の力学分析

抄録

The walking order of Japanese macaques is different from that of other quadrupeds. The reason may be the difference in the position of the center of gravity between Japanese macaques and other mammals. The purpose of this study is to analyze the relationship between the walking sequence and the position of the center of gravity. However, it is difficult to experimentally analyze this relationship using actual animals. Therefore, a robot that reproduces Japanese macaques was used instead of actual animals. Measuring the specific power of the walking of the robot reveals an efficient walking sequence for each position of the center of gravity.