振動による受働土圧増加と振動周波数の関係性に関する実験的研究

抄録

In recent years, the leg typed rovers are focused on as an exploring rover with high running performance. In previous study, walking method which prevents from slip on the loose ground was proposed. The proposed walking method used changes of the ground when giving vibration. In the proposed walking method, increasing passive earth pressure by giving the vibration is important. In this study, the relationship between kind of vibration and increasing passive earth pressure are confirmed. In experimental results, the more frequency of vibration was large, the more passive earth pressure was increased in low sinkage of a leg. However, this experimental result was not confirmed in high sinkage of a leg. These results were caused by attenuation of vibration.