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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 |
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Download is available from 2999/12/31.
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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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× MIKAMI, Sadayoshi× 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 |