WEKO3
アイテム
Stability Effect for Passive Dynamic Walker by Stance Leg Heel Angle Constraint Using Foot Shape
http://hdl.handle.net/10445/8462
http://hdl.handle.net/10445/846208b49f98-188f-4453-9ab2-8dd040104d1d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
SWARM_2015_submission_106 (1).pdf (698.3 kB)
Download is available from 2999/12/31.
|
|
| 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 | Stability Effect for Passive Dynamic Walker by Stance Leg Heel Angle Constraint Using Foot Shape | |||||
| 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× Iwaguchi, Yuya× Takamura, Yoshiaki× 三上, 貞芳 |
|||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | One of the methods known to stabilize a passive dynamic walk is to restrict a hip joint angle. The hip restriction method effects as resetting the walking dynamics every time at the beginning of the walk. A Constraining Foot Shape is known to give the same effect by a more compact configuration. However, it was not clear how much this dynamics resetting effect will be given for a specific design parameter such as a length of the foot. This paper shows a numerical approach for this. Firstly, we show a dynamics of walking by 2D stick model with foot length. This is realized by considering a support point exchange effect. Secondly, we show a simulation results by this model. From this, we show that a longer foot will give a more strong effect of resetting walking dynamics. Finally, we demonstrate the validity of this model by making an actual hardware of 2D stick model with foot length. In this model, a scuffing effect was avoided by using landing islands on a slope. | |||||
| 書誌情報 |
The First International Symposium on Swarm Behavior and Bio-Inspired Robotics p. 473-477, 発行日 2015-10-30 |
|||||
| 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 | |||||
