揺動質量を利用した前後の脚数の異なる連結型リムレスホイールの歩容生成

抄録

It was clarified that the walking speed of a combined rimless wheel can be indirectly controlled by using an active wobbling mass via entrainment effect in the previous studies. Analyses on nonlinear properties of it have been conducted based on the theory of phase oscillation. To further investigate the dominance relationship among multiple oscillators in the locomotion systems, different rimless wheels and an active wobbling mass are connected by a rigid beam in this study. First, we describe the mathematical model and control. Second, we discuss the change of dominance relationship between the front and rear legs according to high-frequency oscillation of wobbling mass through numerical simulations.