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平衡点の大域的安定化原理に基づくロバストな受動歩行
https://nitech.repo.nii.ac.jp/records/5379
https://nitech.repo.nii.ac.jp/records/5379bf968fc4-bee0-428e-9b49-89735ecb03b9
名前 / ファイル | ライセンス | アクション |
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本文_fulltext (7.4 MB)
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Copyright 社団法人 日本ロボット学会
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2012-11-06 | |||||
タイトル | ||||||
タイトル | 平衡点の大域的安定化原理に基づくロバストな受動歩行 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | ヘイコウテン ノ ダイイキテキ アンテイカ ゲンリ ニモトズク ロバストナ ジュドウ ホコウ | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | Robust Passive Walking Based on a Global Stabilization Principle of Fixed Point | |||||
著者 |
池俣, 吉人
× 池俣, 吉人× 佐野, 明人× 藤本, 英雄 |
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著者別名 | ||||||
姓名 | Sano, Akihito | |||||
著者別名 | ||||||
姓名 | Fujimoto, Hideo | |||||
書誌情報 |
日本ロボット学会誌 巻 26, 号 2, p. 178-183, 発行日 2008-03-15 |
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出版者 | ||||||
出版者 | 社団法人 日本ロボット学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID(NCID) | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | A passive walker can walk down shallow slope. This gait, which results from the interaction between the nonlinear dynamic system and the environment, is really a physical phenomenon in itself. Though the passive walking is energy efficient and has natural gait like human being, it is fragile. It is extremely difficult for a walker with knees to walk for several steps and achieve high success rate in the real world. The passive walker is a sort of hybrid system and can exhibit a stable limit cycle. Therefore, a global stability around the fixed point is essential for achieving robust walking. We focus on the stability mechanism of fixed point. In this paper, first, a global stabilization principle is mathematically established. Based on this principle, a simple mechanism making the inter-leg angle at heel-strike constant was adopted in the developed walker. Finally, the improvement of robustness is confirmed by a dynamical walking experiment. | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |