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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

Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation

http://hdl.handle.net/2237/9449
http://hdl.handle.net/2237/9449
eeeb9161-b846-4cf2-ad2a-5020a76ff785
名前 / ファイル ライセンス アクション
taji.pdf taji.pdf (392.5 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-02-22
タイトル
タイトル Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation
言語 en
著者 Harata, Yuji

× Harata, Yuji

WEKO 21917

en Harata, Yuji

Search repository
Asano, Fumihiko

× Asano, Fumihiko

WEKO 21918

en Asano, Fumihiko

Search repository
Luo, Zhi-Wei

× Luo, Zhi-Wei

WEKO 21919

en Luo, Zhi-Wei

Search repository
Taji, Kouichi

× Taji, Kouichi

WEKO 21920

en Taji, Kouichi

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 21921

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 Copyright © 2007 IEEE. Reprinted from (relevant publication info). 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 Restoring mechanical energy lost by heel-strike collisions is necessary for stable gaint generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.
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.2007.4399337
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-1-4244-0912-9
書誌情報 en : International Conference on Intelligent Robots and Systems

p. 2198-2203, 発行日 2007
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/9449
識別子タイプ HDL
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