胴体の粘弾性を考慮した前後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 the dominance relationship of it have been conducted based on the active wobbling mass. To further investigate the dominance relationship among multiple oscillators in the locomotion systems under normal circumstances, different rimless wheels are connected by a viscoelastic body beam in this study. First, we introduce the mathematical model and control. Second, We discuss the effect of viscoelasticity on walking speed through numerical simulations.