自由度凍結の解除とワイヤ拘束によるヒトに近い走行

抄録

In this study, we focus on the bouncing rod dynamics and its mechanism. We aim to realize the passive running that had high energy efficiency. We tried a passive running with high self-subsistence by using wires and levers, but the running was unstable. We developed new mechanism based on releasing fixed degree of freedom and wire-restraint, resulting in more stable human-like running.