Dynamical analysis of simple models with flexible body for bounding in quadrupeds

Tomoya Kamimura, Yuichi Ambe, Shinya Aoi, Kazuo Tsuchiya, Fumitoshi Matsuno

研究成果: Conference contribution

抄録

The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1449-1454
ページ数6
ISBN(電子版)9781509018970
DOI
出版ステータスPublished - 2017 2 6
外部発表はい
イベント2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
継続期間: 2016 10 92016 10 12

出版物シリーズ

名前2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
国/地域Hungary
CityBudapest
Period16/10/916/10/12

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 人工知能
  • 制御と最適化
  • 人間とコンピュータの相互作用

フィンガープリント

「Dynamical analysis of simple models with flexible body for bounding in quadrupeds」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル