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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9589

Title: 運動エネルギーの観点から見た2周期歩容の性能と最適性
Authors: 浅野, 文彦
Keywords: kinetic energy
2-period gait
dynamic bipedal walking
rimless wheel
Issue Date: 2010-09-15
Publisher: システム制御情報学会
Magazine name: システム制御情報学会論文誌
Volume: 23
Number: 9
Start page: 197
End page: 206
Abstract: This paper investigates the efficiency of a 2-period limit-cycle gait from the kinetic energy viewpoint. First, we formulate a steady 2-period gait by using simple recurrence formulas 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. Furthermore, we show that the symmetric gait is not always optimal from another viewpoint. Finally, we investigate the validity of the derived theory through numerical simulations of virtual passive dynamic walking using a compass-like biped robot.
Rights: Copyright (C) 2010 システム制御情報学会. 浅野文彦, システム制御情報学会論文誌, 23(9), 2010, 197-206.
URI: http://hdl.handle.net/10119/9589
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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