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This paper proposes a novel approach to shock-absorbing mechanism at impact in limit cycle walking focusing on the system redundancy. We consider a combined rimless wheel with a wobbling mass in the body frame. We mathematically show that the loss of energy caused by collision is reduced because the wobbling mass conserves the kinetic energy. Through numerical simulations, we show that the gait efficiency...
This paper investigates the roles and effects of dynamic absorbers attached to the leg frames on the gait properties of passive dynamic walking. First, we model a passive compass-like biped robot that consists of two identical leg frames with passive dynamic absorbers that represent micromechanical vibration or human flesh dynamics. We then conduct gait analysis through numerical simulations to observe...
It was clarified that limit cycle walkers can improve the gait efficiency by using the oscillatory effect of a wobbling mass moving in the body frame. In this research, we investigate the effects of a 2-DOF wobbling mass on the gait properties. As the simplest walker for analysis, we introduce the model of a planar eight-legged rimless wheel (RW) with a passive 2-DOF wobbling mass that is connected...
The authors have clarified that an active wobbling mass that vibrates up-and-down in the body frame of a passive combined rimless wheel (CRW) significantly increases the generated walking speed by the effect of entrainment to the wobbling motion. This paper then investigates the effects of an active wobbling mass that moves backward and forward in the body frame on the generated gait properties. First,...
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