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Parametric Excitation Based Gait Generation for Ornithoid Walking
http://hdl.handle.net/2237/12104
http://hdl.handle.net/2237/12104197676be-4872-4c95-9e3e-48f3e9ca6b6d
名前 / ファイル | ライセンス | アクション |
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IROS08_0570.pdf (315.7 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2009-08-27 | |||||
タイトル | ||||||
タイトル | Parametric Excitation Based Gait Generation for Ornithoid Walking | |||||
言語 | en | |||||
著者 |
Harata, Yuji
× Harata, Yuji× Asano, Fumihiko× Taji, Kouichi× Uno, Yoji |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | Copyright © 2008 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. p.2940-2945.<br/>This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. | |||||
抄録 | ||||||
内容記述 | The parametric excitation based gait generation method proposed by Asano et al. restores mechanical energy lost by heel-strike collisions. Harata et. al. applied this method to a kneed biped robot which is proper for the parametric excitation, and show that sustainable gait has been generated with only knee torque. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and many acrobots bends a joint in inverse direction like ornithoid walking. This suggests that inverse bending a knee restores more mechanical energy than forward bending like human walking, and hence, inverse bending may be more efficient. In this paper, we propose a parametric excitation based ornithoid gait generation method for a kneed biped robot, and show that it can walk sustainably by numerical simulation. We also show that parametric excitation based inverse bending walking is more efficient than parametric excitation based forward bending walking with respect to performance indices in our model. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | IEEE | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/IROS.2008.4650839 | |||||
書誌情報 |
en : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008) p. 2940-2945, 発行日 2008-09 |
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フォーマット | ||||||
application/pdf | ||||||
著者版フラグ | ||||||
値 | publisher | |||||
URI | ||||||
識別子 | http://dx.doi.org/10.1109/IROS.2008.4650839 | |||||
識別子タイプ | DOI | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/12104 | |||||
識別子タイプ | HDL |