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Limiting Stance Leg Heel Angle by Sole Shape to Achieve Stable Passive Dynamic Walk
http://hdl.handle.net/10445/8460
http://hdl.handle.net/10445/8460451a111f-81c6-4601-b056-6f75eda9680c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Th37.6-P0505.pdf (346.4 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 | Limiting Stance Leg Heel Angle by Sole Shape to Achieve Stable Passive Dynamic Walk | |||||
| 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 |
Omido, Takeru
× Omido, Takeru× 三上, 貞芳× Hyodo, Kazuyuki |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | One of the ideal methods to stabilize passive dynamic walk is to reset the angle and the velocity of a swing leg to their initial values every time after a new gait phase begins. To achieve this, it was proposed to mechanically limit the range of the rotation of a hip joint. This drastically contributes to realize stable walk. But a hip joint limitation does not always ensure the same angle for the beginning of a swing leg, especially when an entire robot rapidly turns over. For an alternative approach, we propose a straight forward method where the angle of the starting swing leg is set to its initial value by constraining its angle at the bottom of its sole. We show that simply extending a sole shape toward a toe direction gives this effect. The proposed shape was applied to a 3D stick leg passive walker and achieved a long time non stopping walk. Computer simulations of a simplified stick walker model with this sole constraint shows that the mechanism widens stability of walk over a wide range of walking conditions. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/ICARCV.2014.7064474 | |||||
| 書誌情報 |
13th International Conference on Control, Automation, Robotics and Vision p. Th37.6, 発行日 2014-12-10 |
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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 | |||||
