Dynamical analysis of the mechanism under two types of quadrupedal galloping

2021 Fiscal Year Final Research Report

• Project/Area Number: 20K22392
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
• Research Institution: Nagoya Institute of Technology
• Principal Investigator: Kamimura Tomoya 名古屋工業大学, 工学(系)研究科(研究院), 助教 (80881789)
• Project Period (FY): 2020-09-11 – 2022-03-31
• Keywords: 4脚ロボット / ギャロップ / 体幹柔軟性

Outline of Final Research Achievements

Quadruped animals use galloping in their highest speed range. In this study, we aimed to clarify the mechanism under which the spine movement contributes to galloping performance.
First, a simulation of a simple model with body flexibility was conducted to elucidate the mechanism under which the spine movement reduces the ground reaction force and achieves efficient high-speed running. The simple analytical model was also used to obtain the mechanical conditions for the cheetah-like body flexion and extension.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

動物の計測データに基づいて体幹運動が走行に与える効果は多く報告されているが，その力学原理は明らかではなかった．本研究の結果から，体幹運動がもたらす効果が力学的に明確になり，また体幹運動を達成するための条件が明らかになった．これらの成果によって動物の運動原理の理解を深められたほか，今後4脚ロボットを開発するにあたって設計指針も得られたことになる．