| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
In this research, in order to clarify the role played by the spinal structure on diversified gait development experimentally and mathematically, we developed a multi-legged passive dynamic walking robot with a trunk emulating a spinal structure and four or more legs and carried out the theoretical analysis of the realized robot's walking. As a result, we found that the degree of freedom in the yaw direction of the trunk part was important, and the asymmetry of the mechanism of the walking robot changed the gait. Moreover, we also developed the walking robot with multiple degrees of freedom and viscoelasticity like the spine and realized a level walking by exciting a rocking motion. Then, we clarified that the resonance characteristics of the robot was changed due to the degree of freedom given to the trunk part and viscoelasticity, and the change caused the diversity of the gait.
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