Performance of a Thermal Bipedal Walker on Inclined Surfaces
Performance of a Thermal Bipedal Walker on Inclined Surfaces
复制标题
热双足步行器在倾斜表面上的性能
DOI：
10.1007/978-3-030-00329-6_3
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Yamamoto Akio
中科院分区：
文献类型：
--
作者：
Su Lingchao;Nemoto Takeru;Yamamoto Akio
利用双金属板热变形驱动的准动态两足步行器，可以利用热能在水平热面上行走。然而，在以前的研究中，它在倾斜表面上的性能还没有得到很好的研究。在这项研究中，我们分析了热步行者在斜面上沿某一轮廓线上下或沿某一轮廓线行走的步态。实验结果表明，热步行器可以在这种情况下行走，其步幅随坡度变化而变化。然而，在向上的斜坡上发现了向后的行走方向，这是无意的。与以往的研究结果相比，步幅较小的步行者向上爬的难度更大，这表明有必要对步行者在倾斜表面上的特征进行进一步的研究。
Being actuated by thermal deformation of bimetal sheets, a quasi-dynamic bipedal walker, which was introduced previously, can walk on a horizontal hot surface utilizing thermal energy. Its performance on inclined surfaces, however, has not been studied well in previous studies. In this study, we analyze the gait of a thermal walker walking up/down or along a certain contour line on an inclined surface. Experimental results show that the thermal walker can walk within such situations, and its stride changes due to the slope angle. However, the walking direction was found backward on upward slopes, which was unintended. Compared with previous studies, the results imply that it is more difficult for a walker with smaller stride to climb upward, suggesting necessity of further investigations on walker characteristics on inclined surfaces.