Passive Dynamic Biped Walking Machine with Sub-system which moves like an upper body
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Accession number;05A0025464
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| Title;Passive Dynamic Biped Walking Machine with Sub-system which moves like an upper body |
| Author;
KOBAYASHI HIROKI
(Univ. Shiga Prefecture, Graduate School, JPN)
KURITA YUTAKA
(Univ. Shiga Prefecture, School of Engineering, JPN)
MATSUMURA YUICHI
(Univ. Shiga Prefecture, School of Engineering, JPN)
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Journal Title;Nihon Kikai Gakkai Supotsu Kogaku Shinpojiumu, Shinpojiumu Hyuman, Dainamikusu Koen Ronbunshu
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Journal Code:L1198A
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ISSN:
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VOL.2004;NO.;PAGE.208-213(2004)
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| Figure&Table&Reference;FIG.13, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper addressed the motion of passive dynamic walking mechanism on a flat floor. We made a simple linkage machine which omits ankle joints, knee joints and an upper body. In our previous works, we have proposed the consistency of natural frequencies in swing and rocking motion is important for energy-effective passive walking. In this paper, we discussed on the damping of rocking motion and unexpected waist motion. The damping of rocking motion causes the shortening of rocking period. We showed this issue may be improved by the adjustment of the distance between soles. Then, we showed the sub-system which moves like an upper body is effective for avoiding the unexpected waist motion. Sub-system on the waist makes the motion of swing and waist in-phase. Therefore, the steps of test machine may be increased. (author abst.) |
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