2016 Fiscal Year Final Research Report
Experimental and mathematical analysis of the diversity of the gait generated by the mechanical properties of the spinal structure
| Project/Area Number |
26870337
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
Control engineering/System engineering
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Keywords | 受動的動歩行 / 脊椎構造 / 歩容 |
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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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| Free Research Field |
脚歩行ロボット
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