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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

Gait motion for naturally curving variously shaped corners

http://hdl.handle.net/2237/00027946
http://hdl.handle.net/2237/00027946
f427d2dc-65f5-43c8-9891-e9254f70887c
名前 / ファイル ライセンス アクション
Turn_7_1_final.pdf Turn_7_1_final (1.9 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2018-05-08
タイトル
タイトル Gait motion for naturally curving variously shaped corners
言語 en
著者 Akiyama, Yasuhiro

× Akiyama, Yasuhiro

WEKO 76318

en Akiyama, Yasuhiro

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Okamoto, Shogo

× Okamoto, Shogo

WEKO 76319

en Okamoto, Shogo

Search repository
Toda, Hitoshi

× Toda, Hitoshi

WEKO 76320

en Toda, Hitoshi

Search repository
Ogura, Takao

× Ogura, Takao

WEKO 76321

en Ogura, Takao

Search repository
Yamada, Yoji

× Yamada, Yoji

WEKO 76322

en Yamada, 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 This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 03/11/2017, available online: http://www.tandfonline.com/10.1080/01691864.2017.1396251.
キーワード
主題Scheme Other
主題 Turning
キーワード
主題Scheme Other
主題 gait motion
キーワード
主題Scheme Other
主題 factor analysis
キーワード
主題Scheme Other
主題 stepping strategy
キーワード
主題Scheme Other
主題 physical assistant robot
抄録
内容記述 Modeling the curving motion of humans in actual environment is rarely done because of the complexity and variability of the turning motion. In this study, various gait motions, including straight, round corner, and circular walks, were recorded and analyzed using factor analysis. As a result, we successfully extracted several factors that represent turning motions, such as long stride motion, turning motion led by the inner leg, and turning motion led by the outer leg. In particular, we found that the natural curving motion, which is a motion that results when turning around a round corner, is widely and continuously distributed on the factor space. Although several typical stepping strategies were reported by related studies, we found that the stepping motion changes between straight and turning gaits in the factor space during natural curving motions. Thus, the classification of curving motion into several typical distinct stepping patterns is probably insufficient to understand the natural curving motion. Furthermore, natural curving motions that comprise circular curving motions that were believed to represent typical curving motions was not validated. On the other hand, this result also suggests the possibility of generating curving motions for a physical assistant robot by combining straight gait and circler curving motion.
言語 en
内容記述タイプ Abstract
内容記述
内容記述 ファイル公開:2018/11/03
言語 ja
内容記述タイプ Other
出版者
言語 en
出版者 Taylor & Francis
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 AM
出版タイプResource http://purl.org/coar/version/c_ab4af688f83e57aa
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1080/01691864.2017.1396251
ISSN
収録物識別子タイプ PISSN
収録物識別子 0169-1864
書誌情報 en : Advanced Robotics

巻 32, 号 2, p. 77-88, 発行日 2017-11-03
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