Passive Dynamic Walking Generated with the Rigid Curved Surface by Irregular Motion

Passive dynamic walking requiring little exertion is one way of realizing efficient bipedal locomotion. In this case, forces should be converted only to shape ideas for the bottom leg, which naturally alternates the vibration of the roll and yaw axes. To achieve our objectives, in this study the authors focus on a spinning top, and the change in the direction of movement about the rotation axis was defined as irregular motion. It was shown that this method of realizing motion axis conversion occurred during rotation. An initial angular velocity is generated on the center axis of the solid body's curved surface, and changed the motion into a backspin. First, it was confirmed that the authors can accurately describe a half ellipsoid as a twisted solid curved surface on its center axis. Next the authors changed the contact point. By adjusting the angular momentum, they also showed the method of momentum vector conversion through friction. The authors extracted the constraint condition, and a translational direction element of the angular momentum vector was synthesized. Finally, they showed a method for converting the irregular motion into translational motion, so that the irregular motion can realize a twist angle and an ellipsoid shape.

• Record URL:
  • https://doi.org/10.1299/jmtl.5.110
• Summary URL:
  • http://scholar.google.com/scholar_lookup?title=Passive+Dynamic+Walking+Generated+with+the+Rigid+Curved+Surface+by+Irregular+Motion&author=Y.+YAMADA&author=J.+NAKATSUKA&author=T.+MORITA&publication_year=2012
• Authors:
  • YAMADA, Yasuyuki
  • NAKATSUKA, Junichi
  • MORITA, Toshio
• Publication Date: 2012

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 110-119
• Serial:
  • Journal of Mechanical Systems for Transportation and Logistics
  • Volume: 5
  • Issue Number: 1
  • Publisher: Japan Society of Mechanical Engineers
  • EISSN: 1882-1782
  • Serial URL: https://www.jstage.jst.go.jp/browse/jmtl
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Motion; Rotation; Walking
• Subject Areas: Pedestrians and Bicyclists; I70: Traffic and Transport;

Filing Info

• Accession Number: 01505125
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Jan 27 2014 10:45AM