2P1-T06 リミットサイクル型動歩行のデータ計測システムの開発と基礎実験

抄録

The authors are developing a novel data measuring system for pseudo walking gait of a rimless wheel (RW) aiming at experimental verification of the stability principle underlying limit cycle walking with constraint on impact posture. This system consists of an 8-legged RW with small passive rollers, a DC motor fixed on the flame for driving the RW, and an up-and-down movable surface above the RW that reproduces the floor dynamics. Different from the traditional actuated RW model, a DC motor fixed on the frame can reduce the error of the vibration during impacts and help us to measure the angular velocity exactly. Vertical mode and horizontal mode are designed to investigate various of the gait properties. As a result, metastable walking gaits are generated in both modes.