Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

• Hanazawa Yuta

  Department of Applied Science for Integrated System Engineering, Graduate School of Engineering, Kyushu Institute of Technology

• Asano Fumihiko

  School of Information Science, Japan Advanced Institute of Science and Technology

抄録

This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.

収録刊行物

• Journal of Robotics and Mechatronics

  Journal of Robotics and Mechatronics 29 (3), 490-499, 2017-06-20

  富士技術出版株式会社

キーワード

• biped robot
• limit cycle
• asymmetric motion

詳細情報

• CRID: 1390282763068394496
• NII論文ID: 130007519939
• NII書誌ID: AA10809998
• DOI: 10.20965/jrm.2017.p0490
• ISSN: 18838049
• ISSN: 09153942
• HANDLE: 10228/00008236
• NDL書誌ID: 028288564
• Web Site: https://kyutech.repo.nii.ac.jp/records/7032
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I028288564
• Web Site: https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT002900030004
• 本文言語コード: en
• データソース種別:
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  • IRDB
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
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