Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections
Humans have whole-body viscoelastic connections called anatomy trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2025-01-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00205/_pdf/-char/en |
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| Summary: | Humans have whole-body viscoelastic connections called anatomy trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized are not fully understood. In this paper, we propose a mathematical model of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the AT theory, and investigate how the connections improve the walking performance in numerical simulation. We introduced a tension transmission line that connects from the foot to the head, modeled after one of human ATs, the superficial back line (SBL), into the mathematical model of a conventional passive walker. The important features of this whole-body line are that the tension transmission function of the line can be instantly switched on/off by a controller that contracts and relaxes the line, and that the line in a contracted state mechanically interacts with the whole-body joints, depending on the spring constant of the line and the posture of the whole body. The simulation results indicate that the walking performance, i.e., the step count, can be improved under the specific combinations of the spring constant and the on/off timing of the whole-body line. These results suggest a method for tuning the SBL to improve the step count, based on the step count and how posture is disrupted. By accumulating insights through both simulations using this mathematical model and experiments with physical robots, while cross-referencing these approaches, it is anticipated that this will eventually contribute to theoretical analysis in the future. |
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| ISSN: | 2187-9761 |