Title :
Wobbling mass effects for a walking robot with inerters
Author :
Watanabe, Manabu ; Hayashi, Teruaki ; Yamakitao, Masaki
Author_Institution :
Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
In this paper, we show an effect of wobbling mass for a walking robot with inerters. In our previous papers, it was shown that wobbling mass improves walking performance of a walking robot with round shape feet. In this paper, it is shown that the wobbling mass also improves walking performance of a robot with impedance properties at ankles including inerters.
Keywords :
gait analysis; legged locomotion; robot dynamics; ankles; inerters; round shape feet; walking robot; wobbling mass effects; Force; Gears; Legged locomotion; Limit-cycles; Mathematical model; Trajectory; Impedance; Inerter; Walking robot;
Conference_Titel :
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location :
Sapporo
DOI :
10.1109/SICE.2014.6935251
