振動を与えた際の支持力増加現象と振動振幅の関係性に関する実験的調査

抄録

The supporting force, that legs of the rover is received, is increased when vibration is imparted to the ground. This phenomenon improves the running performance of the legged rovers. In this study, the relationship between vibratory amplitude and increasing the supporting force is investigated. In the experimental results, the more vibratory amplitude is large, the more the supporting force is increased in low sinkage of a leg. However, this result has not been confirmed in high sinkage of a leg. Moreover, the supporting force is correlated with vibratory acceleration which is calculated from vibratory amplitude in low sinkage of a leg. This result means that the supporting force may be estimated from vibratory acceleration. Next, vibratory amplitude and vibratory frequency are compared in order to investigate which is effective for increasing the supporting force. In this results, vibratory amplitude is more effective than vibratory frequency for increasing the supporting force.