|
JAIST Repository >
b. 情報科学研究科・情報科学系 >
b10. 学術雑誌論文等 >
b10-1. 雑誌掲載論文 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/10845
|
| タイトル: | Limit cycle walking, running, and skipping of telescopic-legged rimless wheel |
| 著者: | Asano, Fumihiko
Suguro, Masashi |
| キーワード: | Gait generation
Limit cycle walking
Running
Skipping
Telescopic-legged rimless wheel |
| 発行日: | 2011-11-29 |
| 出版者: | Cambridge University Press |
| 誌名: | Robotica |
| 巻: | 30 |
| 号: | 06 |
| 開始ページ: | 989 |
| 終了ページ: | 1003 |
| DOI: | 10.1017/S0263574711001226 |
| 抄録: | This paper investigates the efficiency and properties of limit cycle walking, running, and skipping of a planar, active, telescopic-legged rimless wheel. First, we develop the robot equations of motion and design an output following control for the telescopic-legs' action. We then numerically show that a stable walking gait can be generated by asymmetrizing the impact posture. Second, we numerically show that a stable running gait can be generated by employing a simple feedback control of the control period, and compare the properties of the generated running gait with those of the walking gait. Furthermore, we find out another underlying gait called skipping that emerges as an extension of the walking gait. Through numerical analysis, we show that the generated skipping gaits are inherently stable and are less efficient than the other two gaits. |
| Rights: | Copyright (C) 2011 Cambridge University Press. Fumihiko Asano and Masashi Suguro, Robotica, 30(06), 2011, 989-1003. http://dx.doi.org/10.1017/S0263574711001226 |
| URI: | http://hdl.handle.net/10119/10845 |
| 資料タイプ: | publisher |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
|
このアイテムのファイル:
| ファイル |
記述 |
サイズ | 形式 |
|---|
| 18443.pdf | | 1768Kb | Adobe PDF | 見る/開く |
|
当システムに保管されているアイテムはすべて著作権により保護されています。
|
