A theoretical approach to modeling of a biped walking machine 二足歩行機械モデリングに関する理論的研究

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著者

    • 重松, 洋一 シゲマツ, ヨウイチ

書誌事項

タイトル

A theoretical approach to modeling of a biped walking machine

タイトル別名

二足歩行機械モデリングに関する理論的研究

著者名

重松, 洋一

著者別名

シゲマツ, ヨウイチ

学位授与大学

北海道大学

取得学位

工学博士

学位授与番号

甲第2910号

学位授与年月日

1991-03-25

注記・抄録

博士論文

目次

  1. Table of Contents / p1 (0003.jp2)
  2. List of Figures / p5 (0007.jp2)
  3. List of Tables / p9 (0011.jp2)
  4. Chapter 1 Introduction / p1 (0013.jp2)
  5. 1.1 Forward dynamics modeling and inverse dynamics modeling / p1 (0013.jp2)
  6. 1.2 Survey of the previous works on walking machines / p2 (0014.jp2)
  7. 1.3 Objective of this work / p7 (0019.jp2)
  8. 1.4 Brief sketch of the contents of each chapter / p7 (0019.jp2)
  9. References of Chapter 1 / p10 (0022.jp2)
  10. Chapter 2 Dynamics Modeling of a Biped Walking Machine as a Spatial Link Mechanism / p11 (0023.jp2)
  11. 2.1 Definition of a biped walking machine as a spatial link mechanism by Denavit-Hartenberg method / p11 (0023.jp2)
  12. 2.2 Calculation of velocity, angular velocity, acceleration, and angular acceleration vectors of the links / p12 (0024.jp2)
  13. 2.3 Newton-Euler equations of the link ί / p14 (0026.jp2)
  14. 2.4 Summary / p16 (0028.jp2)
  15. References of Chapter 2 / p18 (0030.jp2)
  16. Chapter 3 Forward Dynamics of a Biped Walking Machine / p19 (0031.jp2)
  17. 3.1 Derivation of the basic formulas for the forward dynamics / p20 (0032.jp2)
  18. 3.2 Derivation of the system of equations with respect to [数式] / p28 (0040.jp2)
  19. 3.3 Foot conditions of a stilt leg / p34 (0046.jp2)
  20. 3.4 Numerical experiments of the forward dynamics model / p40 (0052.jp2)
  21. 3.5 Summary / p84 (0096.jp2)
  22. References of Chapter 3 / p86 (0098.jp2)
  23. Chapter 4 Impact Modeling of a Biped Walking Machine / p88 (0100.jp2)
  24. 4.1 Derivation of the basic formulas at impact / p89 (0101.jp2)
  25. 4.2 Derivation of the system of equations with respect to [数式] / p98 (0110.jp2)
  26. 4.3 Foot conditions of a stilt leg / p105 (0117.jp2)
  27. 4.4 Numerical experiments of the impact model / p116 (0128.jp2)
  28. 4.5 Summary / p149 (0161.jp2)
  29. References of Chapter 4 / p151 (0163.jp2)
  30. Chapter 5 Foot Link with the Flat Sole / p152 (0164.jp2)
  31. 5.1 Contact forms of a flat sole to the ground / p152 (0164.jp2)
  32. 5.2 Foot condition of a flat sole / p156 (0168.jp2)
  33. 5.3 Case of the zero interaction forces / p157 (0169.jp2)
  34. 5.4 Summary / p161 (0173.jp2)
  35. References of Chapter 5 / p162 (0174.jp2)
  36. Chapter 6 Transitions between the Foot Conditions / p163 (0175.jp2)
  37. 6.1 Transition from stance to swing / p163 (0175.jp2)
  38. 6.2 Transition from stance to slipping / p165 (0177.jp2)
  39. 6.3 Transition from swing to either stance or slipping / p165 (0177.jp2)
  40. 6.4 Transition from slipping to swing / p165 (0177.jp2)
  41. 6.5 Transition from slipping to stance / p166 (0178.jp2)
  42. 6.6 Summary / p166 (0178.jp2)
  43. References of Chapter 6 / p167 (0179.jp2)
  44. Chapter 7 Forward Dynamics Model with the Impact Model on Rough Terrain / p168 (0180.jp2)
  45. 7.1 Imbedding of the forward dynamics into an ordinary differential equations / p168 (0180.jp2)
  46. 7.2 Automatic selection of the feet conditions / p171 (0183.jp2)
  47. 7.3 Numerical experiments of the forward dynamics model with the impact model / p171 (0183.jp2)
  48. 7.4 Summary / p181 (0193.jp2)
  49. Chapter 8 Conclusions / p183 (0195.jp2)
  50. Acknowledgment / p185 (0197.jp2)
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各種コード

  • NII論文ID(NAID)
    500000073612
  • NII著者ID(NRID)
    • 8000000073809
  • DOI(NDL)
  • NDL書誌ID
    • 000000237926
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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