Biped Bikeに関する研究 -矢状面運動の解析と制御- [in Japanese] A Study on Biped Bike -Analysis and Control of Sagittal Plane Motion- [in Japanese]
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We propose a biped locomotion system that its gait is changeable in real-time. Our targets are; artificial leg, slave machine, remote-brain home-robot, etc. Our dream is to develop new transportation tool that rider can control its gait. We call this imagination as "Biped Bike."<br>In this paper, we discuss the way of real-time gait control of biped locomotion. We propose Virtual Inverted Pendulum (VIP) Method for controlling the walking speed. This method considers the continuity of biped walking especially on transient status such as acceleration and deceleration. The actual biped system is made and real-time gait control is realized using VIP method.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 117(9), 1057-1062, 1997-09
The Institute of Electrical Engineers of Japan