受動歩行の安定メカニズムを規範とした平衡点生成と局所安定化

• 池俣 吉人

  名古屋工業大学大学院工学研究科

• 佐野 明人

  名古屋工業大学大学院工学研究科

• 藤本 英雄

  名古屋工業大学大学院工学研究科

書誌事項

タイトル別名

• Generation and Local Stabilization of Fixed Point based on a Stability Mechanism of Passive Walking
• ジュドウ ホコウ ノ アンテイ メカニズム オ キハン ト シタ ヘイコウテン セイセイ ト キョクショ アンテイカ

抄録

A passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle only by interaction between the nonlinear dynamic system and the environment. Though the passive walker is simple, it is a sort of hybrid system which combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. This study aims to construct the general design framework of realizing the natural and efficient walking on level ground and uphill. In this paper, we focus on the stability mechanism of fixed point in passive walking. At first, a generation method of fixed point based on its physical structure, which is formed by an energy balance, a leg-exchange phenomenon, and a leg-swing motion, is proposed. Secondly, for the purpose of highest local stability of the fixed point, a dynamics-based control method utilizing the fixed point's stability mechanism is proposed. The validity of the proposed methods is confirmed by the simulation of finite time settling in the level-walking.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 24 (5), 632-639, 2006

  一般社団法人 日本ロボット学会

キーワード

• Passive Walking
• Fixed Point
• Local Stability
• Dynamics-Based Control
• Finite Time Settling

詳細情報

• CRID: 1390282679701414272
• NII論文ID: 10018009485
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.24.632
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8038993
• Web Site: http://id.nii.ac.jp/1476/00005296/
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8038993
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可