双円弧バウンシングモデルに生じる受動走行挙動

抄録

We propose a bouncing model with bilateral arcs that generate a stable passive running motion, which is similar to the hinged-movement-based passive running motion in other previous studies. Our proposed model comprises two rigid arcs symmetrically opposing in a mirror image. Our model generates an asymptotically stable periodic motion bouncing down a slope in a similar way to human running gait. The stability of this motion is analytically proved in terms of eigenvalues of Poincaré map. It is shown that the jumping and thrust motions of our model are largely driven by the rotational energy which is supplied during the impact against the slope.