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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC

http://hdl.handle.net/2237/13930
http://hdl.handle.net/2237/13930
63a3640f-0222-408e-91cb-019b7d246085
名前 / ファイル ライセンス アクション
TMech2009_aoyama-1.pdf TMech2009_aoyama-1.pdf (1.1 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-08-03
タイトル
タイトル Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC
言語 en
著者 Aoyama, Tadayoshi

× Aoyama, Tadayoshi

WEKO 38224

en Aoyama, Tadayoshi

Search repository
Hasegawa, Yasuhisa

× Hasegawa, Yasuhisa

WEKO 38225

en Hasegawa, Yasuhisa

Search repository
Sekiyama, Kosuke

× Sekiyama, Kosuke

WEKO 38226

en Sekiyama, Kosuke

Search repository
Fukuda, Toshio

× Fukuda, Toshio

WEKO 38227

en Fukuda, Toshio

Search repository
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 ©2009 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
キーワード
主題Scheme Other
主題 Biped walking
キーワード
主題Scheme Other
主題 legged robots
キーワード
主題Scheme Other
主題 underactuate
抄録
内容記述 This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC constant,rdquo which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.
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/TMECH.2009.2032777
ISSN
収録物識別子タイプ PISSN
収録物識別子 1083-4435
書誌情報 en : IEEE/ASME Transactions on Mechatronics

巻 14, 号 6, p. 712-718, 発行日 2009-12
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13930
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/TMECH.2009.2032777
識別子タイプ DOI
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