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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/10119/8812
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| タイトル: | 股関節二分機構を用いて上体を付加した劣駆動２脚ロボットの動歩行解析 |
| 著者: | 浅野, 文彦
羅, 志偉 |
| キーワード: | Dynamic Walking
Gait Generation
Upper Body
Efficiency
Bisecting Hip Mechanism |
| 発行日: | 2008-11 |
| 出版者: | 日本ロボット学会 |
| 誌名: | 日本ロボット学会誌 |
| 巻: | 26 |
| 号: | 8 |
| 開始ページ: | 932 |
| 終了ページ: | 943 |
| 抄録: | Achieving energy-efficient dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion. It has been clarified that approaches based on passive-dynamic walkers accomplish it. In general, however, passive dynamic walking is realized by only the legs and the effect of an upper body has not been clarified. Based on the observations, this paper deeply investigates what effects an upper body had on the performances and stability of dynamic biped locomotion. We first consider adding an upper body, which is introduced as a simple 1-link torso, by means of a bisecting hip mechanism so as not to destroy natural dynamics of the biped model. In the second, we analyze the robot’s driving mechanism and apply underactuated virtual passive dynamic walking as a method for generating efficient dynamic gait. We confirm that highly efficient dynamic walking is realized with a specific resistance of 0.01, and investigate the effects of physical parameters of the upper body through numerical simulations. |
| Rights: | Copyright (C) 2008 日本ロボット学会. 浅野 文彦, 羅 志偉, 日本ロボット学会誌, 26(8), 2008, 932-943. |
| URI: | http://hdl.handle.net/10119/8812 |
| 資料タイプ: | publisher |
| 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:
| ファイル |
記述 |
サイズ | 形式 |
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| B12820.pdf | | 1379Kb | Adobe PDF | 見る/開く |
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