2022 Fiscal Year Final Research Report
Mechanics for turning of quadruped locomotion
| Project/Area Number |
20K04390
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Okayama University of Science |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
吉田 浩治 岡山理科大学, 工学部, 教授 (00254433)
林 良太 岡山理科大学, 工学部, 教授 (40288949)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | 大型生物の旋回 |
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| Outline of Final Research Achievements |
This research aims to address the question of how large quadrupedal vertebrates, such as sauropods, turn.
It aims to conduct an investigation based on the geometric turning theory of automotive engineering and evaluate its validity using robots. As a result of analyzing the turning trajectories of previously discovered large sauropods and collected data from elephants, the research findings indicate that sauropods turn with an inner track difference through front limb steering, while elephants turn with an outer track difference through hind limb steering. Additionally, the steering ratio tends to be inversely proportional to the load ratio. This is theoretically shown to be caused by each organism steering to minimize their inertia moment during turning. The validity of these findings was also verified through simulations.
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| Free Research Field |
ロボット学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究は，大型四足生物の旋回行跡に見られる軌道差が前肢と後肢の舵角の比によって幾何学的に決定されるという従来研究を掘り下げ，舵角の比は荷重の逆比として決定され，これは生物が慣性モーメントを最小にするように旋回した結果であることを示した．この結果は，従来あまり考察されていなかった四足生物の定常旋回メカニズムを明らかにするという意味で学術的意義がある．また，絶滅種である竜脚類の歩行メカニズムを明らかにしたという意味で重要な結果と考える．
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