著者

田中 颯樹 増田 容一 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.305-312, 2019

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<p>This paper is concerned with nonlinear analysis of a 1-d.o.f. vertical hopping robot, composed of its body, foot and a DC motor with crank mechanism. We show that its hopping motion under a constant voltage converges into a stable limit cycle, through physical experiments and numerical simulations. We then clarify this stabilization mechanism based on a simplified mathematical model, by showing that the negative torque-velocity correlation (weakness) of DC motors plays as a feedback law for stabilization. We also show that the limit cycles exhibit period-doubling bifurcation as the applied voltage increases, and the corresponding bifurcation diagram is affected by the weakness parameter of the DC motor.</p>