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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9507

Title: 遊脚収縮現象を考慮したロバスト擬似仮想受動歩行
Authors: 浅野, 文彦
羅, 志偉
Keywords: Dynamic bipedal walking
Gait generation
Swing-leg retraction
Stable domain
Bifurcation
Issue Date: 2009-10-15
Publisher: 日本ロボット学会
Magazine name: 日本ロボット学会誌
Volume: 27
Number: 8
Start page: 892
End page: 899
Abstract: It was clarified that energy-efficient dynamic bipedal walking can be achieved by effectively applying the principle of passive dynamic walking. Approaches based on virtual gravity are typical methods for generating efficient level dynamic gait. These methods, however, had the problem that the specified control input includes a singular point which causes complicated motion. This paper then proposes a new method, which is termed as the pseudo virtual passive dynamic walking, to solve this problem. We first formulate the basic method for a planar underactuated biped model with an upper body by introducing the concept of pseudo center of mass. We also consider to inhibit swing-leg retraction by constraining the impact posture to achieve the maximum efficiency condition. In addition, we discovered that the constraint on impact posture strongly extends the stable domain and improves the convergence speed to the steady gait through numerical simulations. We report the detailed analysis results and theoretically investigate how the constraint affects the gait properties.
Rights: Copyright (C) 2009 日本ロボット学会. 浅野文彦,羅志偉, 日本ロボット学会誌, 27(8), 2009, 892-899.
URI: http://hdl.handle.net/10119/9507
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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