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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/10119/11562
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| タイトル: | Efficiency and optimality of two-period limit cycle walking |
| 著者: | Asano, Fumihiko |
| キーワード: | limit cycle walking
two-period gait
kinetic energy
efficiency
rimless wheel |
| 発行日: | 2012-04-13 |
| 出版者: | Koninklijke Brill NV, Leiden and The Robotics Society of Japan |
| 誌名: | Advanced Robotics |
| 巻: | 26 |
| 号: | 1-2 |
| 開始ページ: | 155 |
| 終了ページ: | 176 |
| DOI: | 10.1163/016918611X607699 |
| 抄録: | This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First, we formulate a steady 2-period gait for a compass-like bipedal robot by using a simple recurrence formula for the kinetic energy of an asymmetric rimless wheel. Second, we theoretically show that, in the case that the mean value of the hip angle is constant, the generated 2-period steady gait is less efficient than a 1-period symmetric one in terms of kinetic energy. We also show that the symmetric gait is not always optimal from another viewpoint. We then extend the analysis to biped walking and investigate the validity of the derived method through numerical simulations of virtual passive dynamic walking. |
| Rights: | This is an Author's Accepted Manuscript of an article published in Advanced Robotics, 26(1-2), 2012, pp.155-176. Copyright (C) 2012 Koninklijke Brill NV, Leiden and The Robotics Society of Japan., available online at: http://dx.doi.org/10.1163/016918611X607699 |
| URI: | http://hdl.handle.net/10119/11562 |
| 資料タイプ: | author |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| 17667.pdf | | 484Kb | Adobe PDF | 見る/開く |
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