Synchronization phenomena in coupled impact oscillator model of rocking robots on a suspension bridge

The phenomenon in which multiple periodic phenomena with different phases have same rhythms by interaction or external forces is called synchronization. Among them, there is gait synchronization in which pedestrian walking on a bridge are synchronized and the resonance phenomenon of suspension bridge, there are less researches of the mutual synchronization of pedestrians. In this study, we confirm the mutual synchronization of suspension bridge and walking robots and consider the phenomena by using coupled impact oscillator model. We experimented robots on the suspension bridge, and compare the result of numerical experiment using the mathematical model and obtained by actual experiment. As a result, similar to the numerical experiment results, we confirming the synchronization phenomenon of the robots.