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2023 Fiscal Year Final Research Report

Dynamical difference between two types of quardupedal galloping

Research Project

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Project/Area Number 21K14104
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20010:Mechanics and mechatronics-related
Research InstitutionNagoya 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) 2021-04-01 – 2024-03-31
Keywordsギャロップ / 4脚ロボット / チーター / ウマ / シンプルモデル
Outline of Final Research Achievements

Galloping used by quadrupeds at high speeds is characterised by the left and right legs moving out of opposite phases, and is classified according to the touchdown order into two types: rotary, which is performed by cheetahs, and transverse, which is performed by horses. We hypothesise that the rotational degree of freedom of the trunk in the roll direction plays an important role as a dynamical factor in generating this difference. A simple model with torsional degrees of freedom of the trunk in the roll direction was proposed, and periodic solutions were searched for by numerical calculation. The dynamical characteristics of each gait has been revealed by the difference in roll degree of freedom.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究の成果は,生物学でも古くから議論されていたチーターとウマが用いる2種類のギャロップの差異について,動力学の立場から原理を説明する.また,ギャロップのパラメータ依存性が明らかになったことから,今後4脚ロボットを開発するにあたって,どのような歩容がそのロボットに可能であるか,また,どのような制御が必要となるかについて議論できるようになった.

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Published: 2025-01-30  

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