二つの揺動慣性を持つシンプルモデルによる２足走行の動力学解析

抄録

Elite sprinters show the bimodal vertical ground reaction force in running denoted as third-order Fourier series. To clarify this mechanism, we focused on elastic organs in the human upper body and used two wobbling masses elastically supported in the trunk. In this study, to reveal the effect of the wobbling mass and its mechanism from a dynamical viewpoint, we investigated the hopping locomotion of a simple model, which consists of two wobbling masses, and numerically searched limit cycles of the model. From the normal mode analysis of the solutions, the generation mechanism of the bimodal and unimodal ground reaction force is clarified. The results suggested the mechanism under which humans perform extremely high-speed running using bimodal ground reaction force as a result of interaction between the body and wobbling masses.