J163012 一定リズムを刻む胴を伴う一次元受動歩行波動アルゴリズム : 尻尾への加振を用いた3体結合衝突振動子モデル

Abstract

We formulate one dimensional biped passive walking model with periodic rhythmic movement of a tail and a torso. The legs and the torso were modeled by globally coupled vibro-impact oscillators. The Grover like wave algorithm realizes indirect movement of a swing leg by transporting energy from the driven tail. Periodic leg exchange attains stable passive walking like movement. By using the designed mechanism, one central pattern generator can control multiple limbs movement.