Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
One of the features of Passive Dynamic Walking is adaptive behavior. This adaptive behavior has been confirmed by simulation. In addition, changes in the inclination angle of the walking road surface which is a change in the outside world have been confirmed in actual machine experiments. However, the adaptive behavior to the change in the viscosity of the joint, which is the internal change, has not been confirmed in actual machine experiments. For this reason, we developed a viscous generation mechanism that can change the viscosity of the joint. We conducted an experiment using its viscosity generating mechanism. In this paper, we describe the mechanism of viscous generation, the experimental results using this mechanism, and the installation of viscous generation mechanism in a 4leged passive walking robot.
