1脚受動跳躍の安定性解析

-尻尾が安定性に与える影響について-

抄録

Passive dynamic locomotion arises without the use of actuators or sensors, but only through interactions with the environment. Previous studies have shown that one-legged passive dynamic hopping (1-PDH), which maintains a constant torso posture, has stable limit cycles. However, the stability of 1-PDH with a tail has not been clarified. In this study, the effect of the tail attached to the hip joint of 1-PDH model on the stability was investigated by numerical simulation. The results revealed that the passive hopping with a tail with appropriate physical parameters improves stability and forward speed.