一脚型受動走行機構の実験的研究

抄録

In this paper, we introduce a one-legged passive running machine. There are many researches of passive running robot. Although, the theoretical analyses of passive running robot have been researched, the experimental research has not well so far been conducted. We propose a passive running mechanism based on passive running robot model. The proposed robot can run in steps without any actuators and sensors. Moreover, experiment of prototyped one-legged passive running machine demonstrated that it could run in three steps using only potential energy.