書誌事項
- タイトル別名
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- 1P1-E04 Asymptotically Stable Gait Generation Based on Mechanical Energy Balance
抄録
This paper investigates dynamic bipedal gait and its stability from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by the two conditions; one is maintaining the restored mechanical energy constant, the other is to settle the relative hip-joint angle to the desired value. The equilibrium point determined by these conditions is always asymptotically stable and this is shown by a simple recurrence formula of the pre-impact kinetic energy. The validity of our method is numerically confirmed via gait generation by virtual passive dynamic walking.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2007 (0), _1P1-E04_1-_1P1-E04_4, 2007
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680910938880
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- NII論文ID
- 110008695231
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可