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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9583

Title: 伸縮脚を用いた衝突姿勢の非対称化に基づく高速動的歩容生成
Authors: 浅野, 文彦
Keywords: Dynamic Bipedal Walking
Gait Generation
Impact Posture
Potential Barrie
Issue Date: 2011-01-15
Publisher: 日本ロボット学会
Magazine name: 日本ロボット学会誌
Volume: 29
Number: 1
Start page: 99
End page: 110
Abstract: This paper proposes a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robo's center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot's telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. First, we introduce a planar rimless wheel model with telescopic legs, and investigate the validity of the stance-leg extension control. The basic properties and efficiency of the generated gaitare also numerically analyzed. Second, we extend the method to a planar telescopic-legged biped model, and investigate the validity through numerical simulations. Furthermore, we discuss the role of asymmetric shape of human foot from the brake effect point of view through efficiency analysis taking the ankle-joint actuation into account.
Rights: Copyright (C) 2011 日本ロボット学会. 浅野文彦, 日本ロボット学会誌, 29(1), 2011, 99-110.
URI: http://hdl.handle.net/10119/9583
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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