The problem investigated involves development of the moving mechanism for a soft floor and a low projection, a step. Behavior of the mechanism discussed looks like quickly small step running by twin legs. It has pair of big feet with kneeless short legs, which are alternatively driven out of phase with twin eccentric discs. The feet trot along, that is, vibratory motion, so its motion is called the vibratory trot. Its toe is pulled up by a coil spring corresponding to a tendon at the leg's step width and projection clear ability is effectively increased by swing motion of the leg. It may be available to move slowly in the house with the soft floor and some projections. Theoretical considerations have clarified fundamental properties of the machine on some kinds of floor, tatami mat, carpet and woody floor, and clear some heights of the woody step. Analytical results are proved by many
雑誌名
日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C
振動速歩型移動機械の基礎的研究
機械論文C01-2595.pdf
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