@article{oai:nitech.repo.nii.ac.jp:00005379,
 author = {池俣, 吉人 and 佐野, 明人 and 藤本, 英雄},
 issue = {2},
 journal = {日本ロボット学会誌},
 month = {Mar},
 note = {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., application/pdf},
 pages = {178--183},
 title = {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},
 volume = {26},
 year = {2008},
 yomi = {サノ, アキヒト and フジモト, ヒデオ}
}