A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function
A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function
复制标题
修正行走椭圆轨道的Theo Jansen连杆扩展机构的提出及循环基函数的研究
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
H. Wagatsuma
中科院分区：
文献类型：
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作者：
Kazuma Komoda;H. Wagatsuma
在本研究中，我们提出了 Theo Jansen 连接的扩展机制来生成各种步行模式。连杆机构的优点是连杆长度的最佳比例提供了像动物步态一样平滑的机车腿部运动，具有尖锐的椭圆轨道，而缺点是在不改变连杆长度的情况下改变轨道的灵活性较差。我们假设连接中心的额外循环运动（为了防止不稳定增加而在原始系统中永远不会移动）将原始行走模式系统地改变为具有各种功能方面的轨道。我们的结果表明，连杆中心的循环运动会改变腿部轨道的接地点，不仅适用于步行，还适用于攀爬运动、在同一位置迈步和回滚。考虑到附加循环作为基本函数，本研究表明 Theo Jansen 机构具有在不规则地面上扩展自适应且可控车辆的能力。
In the present study, we proposed an extension mechanism of the Theo Jansen linkage to generate various walking patterns. The advantage of the linkage is that the best proportions of link lengths provides a smooth locomotive leg movement like animal gaits with a sharp-pointed elliptic orbit while the disadvantage is less flexibility to change the orbit without any change of link lengths. We hypothesized that an additional cyclic motion of the linkage center, which is never going to move in the original system for preventing rising instability, alters the original walking pattern into orbits systematically with various functional aspects. Our results demonstrated that cyclic motions of the linkage center vary grounding points of the leg’s orbits not only for walking but also climbing motion, stepping in the same place and rolling back. In consideration of the additional cycle as a base function, the present study suggests that the Theo Jansen mechanism has a capability to extend an adaptive and controllable vehicle on irregular ground.