G101035 脚部構造を模擬した受動機構による走路面上での2足歩行([G101-03]機械力学・計測制御部門,一般セッション(3))

• 草野 直樹

  滋賀県立大学大学院

• 栗田 裕

  滋賀県立大学 工字部

• 大浦 靖典

  滋賀県立大学 工字部

書誌事項

タイトル別名

• G101035 Bipedal Walking on Driving Road Surface by Passive Mechanism Imitating Leg Structure

抄録

Man walks using the Natural vibration of musculoskeletal systems,such as a way of a leg or an arm,and torsion of the body.Passive dynamic walking is what imitated such persons walk,and it performs rhythmical movement which employed the mechanism characteristic efficiently.We produced the test prototype consisting of the waist and two legs by old research,and it realized the passive walk.However,in this test prototype,the flexibility of leg structure,etc.are not similar with people,and the aspects of the walk also differ.Application of the future of a passive walk was considered,people's walk analysis was conducted first,the mechanism of the walk was traced,the test prototype which imitated people's leg structure was produced,and this research aimed at realization of the 2-pair-of-shoes passivity walk near people.

収録刊行物

• 年次大会

  年次大会 2013 (0), _G101035-1-_G101035-5, 2013

  一般社団法人 日本機械学会

キーワード

• Natural Vibration
• Self-Excited Vibration
• Mechanism
• Multibody Dynamics
• Legged Locomotion
• Distributsd Coordination
• Swing Phase and Stance Phase

詳細情報

• CRID: 1390001205840966400
• NII論文ID: 110009932044
• DOI: 10.1299/jsmemecj.2013._g101035-1
• ISSN: 24242667
• Web Site: https://www.jstage.jst.go.jp/article/jsmemecj/2013/0/2013__G101035-1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可