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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/13487

Title: 足裏面の摺動を考慮した半円足をもつコンパス型2脚受動歩行ロボットのモデリングと解析
Authors: 浅野, 文彦
坂, 利昭
原田, 祐志
Keywords: Passive dynamic walking
Semicircular feet
Sliding contact
Issue Date: 2016
Publisher: 日本ロボット学会
Magazine name: 第21回ロボティクスシンポジア
Start page: 408
End page: 413
Abstract: The authors investigated the effect of semicircular feet on the 3-DOF passive compass gait sliding on slippery downhill, and released an inaccurate report on the mathematical model and analysis results. This paper then reconsiders the same issue and analyzes the gait properties using the corrected robot mathematical model. First, we explain the background to the inaccurate report, and redevelop the accurate robot equation. Second, we mathematically discuss the energy-dissipating mechanism in the presence of frictional force effect to systematically determine the friction coefficient. Furthermore, we numerically analyze the fundamental gait properties using the accurate model redeveloped.
Rights: Copyright (C) 2016 日本ロボット学会. 浅野文彦, 坂利昭, 原田祐志, 第21回ロボティクスシンポジア, 2016, pp.408-413. 本著作物は日本ロボット学会の許可のもとに掲載するものです。This material is posted here with permission of the Robotics Society of Japan.
URI: http://hdl.handle.net/10119/13487
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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