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Turning Motion by Control Constraint Mechanism of Passive Dynamic Walking
http://hdl.handle.net/10445/8447
http://hdl.handle.net/10445/8447d47baa9d-3d0e-4111-a194-a56f040f8aa7
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2010-SICE-Hyodo-SA17-5.pdf (601.3 kB)
Download is available from 2999/12/31.
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Turning Motion by Control Constraint Mechanism of Passive Dynamic Walking | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Hyodo, Kazuyuki
× Hyodo, Kazuyuki× 三上, 貞芳× Narikiyo, Tatsuo× Kawanishi, Michihiro |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper proposes a foot shape design to enhance stability of passive dynamic walk, by constraining fall down phenomenon in both saggital and lateral planes. From geometrical analysis, we found that stability under a wide range of slope inclinations will be achieved by limiting swing legs spatially in a certain angle. We also found that the limiting leg's angles, we call constraint mechanisms, are achieved by a certain type of a 3D sole shape, which provides stability in a compact size. We show the turning motion for a passive dynamic biped walker with constrained mechanisms. | |||||
| 書誌情報 |
SICE Annual Conference 2010 p. 2804-2806, 発行日 2010-08 |
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| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
| 出版者 | ||||||
| 出版者 | SICE | |||||
