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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

Efficient parametric excitation walking with delayed feedback control

http://hdl.handle.net/2237/13958
http://hdl.handle.net/2237/13958
110241e0-65eb-4fb6-b8bb-0076fdfccc88
名前 / ファイル ライセンス アクション
taji.pdf taji.pdf (270.8 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-08-04
タイトル
タイトル Efficient parametric excitation walking with delayed feedback control
言語 en
著者 Harata, Yuji

× Harata, Yuji

WEKO 38329

en Harata, Yuji

Search repository
Asano, Fumihiko

× Asano, Fumihiko

WEKO 38330

en Asano, Fumihiko

Search repository
Taji, Kouichi

× Taji, Kouichi

WEKO 38331

en Taji, Kouichi

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 38332

en Uno, Yoji

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.
抄録
内容記述 In the passive dynamic walking proposed by McGeer, mechanical energy lost by heel strike is restored by transporting potential energy to kinetic energy as walking down a slope. When energy input is large such as an angle of slope is steep, bifurcation of walking period occurs. In parametric excitation walking, which is one method to realize passive dynamic-like walking on level ground, bifurcation has also been observed when walking speed is fast. Asano et al. have shown that bifurcation exerts an adverse influence upon walking performance by using rimless wheel model. In this paper, we apply delayed feedback control (DFC) originally used in chaos control to parametric excitation walking to suppress bifurcation. We show in numerical simulation that the proposed method makes two-period walking to one-period walking, and energy efficiency is improved. The analyses using Poincare¿ map reveal that the one-period walking with DFC is unstable periodic orbit and that the robot dealt in this paper satisfies the sufficient condition of applicability of DFC.
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.2009.5354511
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-1-4244-3803-7
書誌情報 en : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)

p. 2934-2939, 発行日 2009-10-10
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13958
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/IROS.2009.5354511
識別子タイプ DOI
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