平衡点の大域的安定化原理に基づくロバストな受動歩行 Robust Passive Walking Based on a Global Stabilization Principle of Fixed Point

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A passive walker can walk down shallow slope. This gait, which results from the interaction between the nonlinear dynamic system and the environment, is really a physical phenomenon in itself. Though the passive walking is energy efficient and has natural gait like human being, it is fragile. It is extremely difficult for a walker with knees to walk for several steps and achieve high success rate in the real world. The passive walker is a sort of hybrid system and can exhibit a stable limit cycle. Therefore, a global stability around the fixed point is essential for achieving robust walking. We focus on the stability mechanism of fixed point. In this paper, first, a global stabilization principle is mathematically established. Based on this principle, a simple mechanism making the inter-leg angle at heel-strike constant was adopted in the developed walker. Finally, the improvement of robustness is confirmed by a dynamical walking experiment.

A passive walker can walk down shallow slope. This gait, which results from the interaction between the nonlinear dynamic system and the environment, is really a physical phenomenon in itself. Though the passive walking is energy efficient and has natural gait like human being, it is fragile. It is extremely difficult for a walker with knees to walk for several steps and achieve high success rate in the real world. The passive walker is a sort of hybrid system and can exhibit a stable limit cycle. Therefore, a global stability around the fixed point is essential for achieving robust walking. We focus on the stability mechanism of fixed point. In this paper, first, a global stabilization principle is mathematically established. Based on this principle, a simple mechanism making the inter-leg angle at heel-strike constant was adopted in the developed walker. Finally, the improvement of robustness is confirmed by a dynamical walking experiment.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 26(2), 178-183, 2008-03-15 

    社団法人 日本ロボット学会

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各種コード

  • NII論文ID(NAID)
    10021141947
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    9422445
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  IR  J-STAGE 
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