2A1-I07 Design of multi-layered spine unit with 3-d.o.f. flexibility : Its effect on quadruped Passive Dynamic Walking(Passive Walking Robot (1))

摘要

In this paper, we focus on how body structures effect on the quadruped walking phenomena. The morphology of the body is one of the factors that living things exhibit multiple and supple locomotion in an unknown environment. Quadruped PDW robots have demonstrated versatile behaviors by changing the body dynamics between fore and hind legs. Then, we build some bodies with multi flexibilities and restoring characteristics, and analyze the role of the body dynamics via some experiments.