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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11562

Title: Efficiency and optimality of two-period limit cycle walking
Authors: Asano, Fumihiko
Keywords: limit cycle walking
two-period gait
kinetic energy
rimless wheel
Issue Date: 2012-04-13
Publisher: Koninklijke Brill NV, Leiden and The Robotics Society of Japan
Magazine name: Advanced Robotics
Volume: 26
Number: 1-2
Start page: 155
End page: 176
DOI: 10.1163/016918611X607699
Abstract: 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
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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