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Passive Sole Constraining Method to Stabilize 3D Passive Dynamic Walking
http://hdl.handle.net/10445/8800
http://hdl.handle.net/10445/8800d0b20442-8377-49a4-9a41-21eebe9f366c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
R032-1015V1-PrivateVer.pdf (917.3 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2020-03-11 | |||||
| タイトル | ||||||
| タイトル | Passive Sole Constraining Method to Stabilize 3D 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 |
Mizoguchi, Naoto
× Mizoguchi, Naoto× 三上, 貞芳× Hyodo, Kazuyuki |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Inspired by the function of a toe and a lateral arch of a human foot, we propose a method to stabilize the biped walk by attaching unactuated toes and lateral arches. The toes and lateral arches work as adaptive braking of sagittal and lateral directions. They touch on the ground at the angle where the biped exceedingly inclines. After touching on the floor, the center of rotation changes at the landing positions. This change causes the reduction of the exceeding angular velocities toward sagittal and lateral directions. By setting appropriate heights of the toe and lateral arch during the swing phase, the walking robot is expected to be stabilized. To analyze the effects of the toe, we derived equations of motions and the state transition functions for a simplified 3D passive dynamic walker with toes. We clarified the potential stabilizing effect of the method from numerical simulations and preliminary experiments by a real-world biped with toes. Note that the proper setting of heights and the verification of the effect of lateral arches are on the way. | |||||
| 書誌情報 |
2019 2nd International Conference on Control and Robotics p. 1-6, 発行日 2019-12 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 9781450372527 | |||||
| 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 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1145/3387304.3387324 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 出版者 | ||||||
| 出版者 | ACM | |||||
