2台の十字型フレームと8本の粘弾性要素により形成される連結型リムレスホイールの受動歩行

抄録

This paper proposes novel combined rimless wheel models with a tensegrity structure formed by two cross-shaped frames and eight viscoelastic elements. We consider two different models; one is formed by two cross-shaped frames where two rigid frames that can rotate around a common central axis, and the other is formed by two identical cross-shaped frames where two rigid frames are fixed so as to be orthogonal to each other. Both models have 12-DOF, but the number of constraints during motion is different. We develop the mathematical models, and numerically investigate the basic properties of passive-dynamic gaits with respect to the slope angle.