書誌事項
- タイトル別名
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- Walking Pattern Generation of Biped Walking Vehicle in Consideration of Passenger's Passive Dynamic Model
- トウジョウシャ ノ ジュドウテキ ウンドウ オ コウリョシタ ニンゲン トウジョウガタ 2ソク ホコウ ロボット ノ ホコウ パターン セイセイ
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This paper describes a passive dynamic model of a passenger for a biped walking vehicle. The model consists of a lower-limb's model fixed on the robot's waist and a particle model of an upper body connected to the robot's waist through springs and dampers. The stiffness and damping coefficients are verified through waist-shaking experiments by using a force/torque sensor under the seat that is mounted on the robot's waist. A walking pattern generation that enables stable walking even if a passenger sits naturally on the seat is also described. This stable walking pattern is generated by an iteration method based on Fourier Transformation. The effectiveness of the proposed method is confirmed through walking experiments.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (6), 842-850, 2007
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725005312
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- NII論文ID
- 10019859395
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 8938739
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可