Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
Our four-legged running robot adopts an active suspension type leg module with a linear motion mechanism comprised of a "compression spring" and "DC motor." Because of its simple structure, this robot expresses running motion with a simple physical model. If the robot's dynamic motion is divided into several types, such as fore-leg landing, in the air, and rear-leg landing, and these cases are appropriately switched, a set of these motion equations can precisely write the entire system during running. If we employ a robotic model composed of two masses, the robot while in the air can be described as the free motion of a two-mass system, and the robot while landing can be described as a double pendulum. Our study confirms that it is possible to express the running of the robot with these models, based on the experiments with simulation and the robot.
