The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 2A2-Q04
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2A2-Q04 Experiment of the Passive Dynamic Walking Robot "Jenkka-III"(Passive Walking Robot)
Hidetaka YOSHIOKAYasuhiro SUGIMOTOKoichi OSUKA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
A Passive Dynamic Walking robot can walk down a gentle slope naturally without any actuator or controller, only using potential energy. This suggests that the principle of walking may exist in this phenomenon. Current researches have confirmed Passive Dynamic Walking (PDW) for biped and quadruped. However, it is also important and interesting to study PDW for more than six legs because it could be a significant approach for the resolution of the principle of walking. In this research, the super multilegged passive dynamic walking robot was analyzed by experiments with " Jenkka-III". And it was confirmed that the 20 legged robot could walk and its gait was changed depending on the degree of freedom of its bodies.
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© 2011 The Japan Society of Mechanical Engineers
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