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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Parametric Excitation Based Gait Generation for Ornithoid Walking

http://hdl.handle.net/2237/12104
197676be-4872-4c95-9e3e-48f3e9ca6b6d
名前 / ファイル ライセンス アクション
IROS08_0570.pdf IROS08_0570.pdf (315.7 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2009-08-27
タイトル
タイトル Parametric Excitation Based Gait Generation for Ornithoid Walking
著者 Harata, Yuji

× Harata, Yuji

WEKO 31183

Harata, Yuji

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Asano, Fumihiko

× Asano, Fumihiko

WEKO 31184

Asano, Fumihiko

Search repository
Taji, Kouichi

× Taji, Kouichi

WEKO 31185

Taji, Kouichi

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 31186

Uno, Yoji

Search repository
権利
権利情報 Copyright © 2008 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. p.2940-2945.
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.
内容記述タイプ Abstract
出版者
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
書誌情報 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)

p. 2940-2945, 発行日 2008-09
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
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