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
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
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重松, 洋一
- 著者別名
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シゲマツ, ヨウイチ
- 学位授与大学
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北海道大学
- 取得学位
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工学博士
- 学位授与番号
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甲第2910号
- 学位授与年月日
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1991-03-25
注記・抄録
博士論文
目次
- Table of Contents / p1 (0003.jp2)
- List of Figures / p5 (0007.jp2)
- List of Tables / p9 (0011.jp2)
- Chapter 1 Introduction / p1 (0013.jp2)
- 1.1 Forward dynamics modeling and inverse dynamics modeling / p1 (0013.jp2)
- 1.2 Survey of the previous works on walking machines / p2 (0014.jp2)
- 1.3 Objective of this work / p7 (0019.jp2)
- 1.4 Brief sketch of the contents of each chapter / p7 (0019.jp2)
- References of Chapter 1 / p10 (0022.jp2)
- Chapter 2 Dynamics Modeling of a Biped Walking Machine as a Spatial Link Mechanism / p11 (0023.jp2)
- 2.1 Definition of a biped walking machine as a spatial link mechanism by Denavit-Hartenberg method / p11 (0023.jp2)
- 2.2 Calculation of velocity, angular velocity, acceleration, and angular acceleration vectors of the links / p12 (0024.jp2)
- 2.3 Newton-Euler equations of the link ί / p14 (0026.jp2)
- 2.4 Summary / p16 (0028.jp2)
- References of Chapter 2 / p18 (0030.jp2)
- Chapter 3 Forward Dynamics of a Biped Walking Machine / p19 (0031.jp2)
- 3.1 Derivation of the basic formulas for the forward dynamics / p20 (0032.jp2)
- 3.2 Derivation of the system of equations with respect to [数式] / p28 (0040.jp2)
- 3.3 Foot conditions of a stilt leg / p34 (0046.jp2)
- 3.4 Numerical experiments of the forward dynamics model / p40 (0052.jp2)
- 3.5 Summary / p84 (0096.jp2)
- References of Chapter 3 / p86 (0098.jp2)
- Chapter 4 Impact Modeling of a Biped Walking Machine / p88 (0100.jp2)
- 4.1 Derivation of the basic formulas at impact / p89 (0101.jp2)
- 4.2 Derivation of the system of equations with respect to [数式] / p98 (0110.jp2)
- 4.3 Foot conditions of a stilt leg / p105 (0117.jp2)
- 4.4 Numerical experiments of the impact model / p116 (0128.jp2)
- 4.5 Summary / p149 (0161.jp2)
- References of Chapter 4 / p151 (0163.jp2)
- Chapter 5 Foot Link with the Flat Sole / p152 (0164.jp2)
- 5.1 Contact forms of a flat sole to the ground / p152 (0164.jp2)
- 5.2 Foot condition of a flat sole / p156 (0168.jp2)
- 5.3 Case of the zero interaction forces / p157 (0169.jp2)
- 5.4 Summary / p161 (0173.jp2)
- References of Chapter 5 / p162 (0174.jp2)
- Chapter 6 Transitions between the Foot Conditions / p163 (0175.jp2)
- 6.1 Transition from stance to swing / p163 (0175.jp2)
- 6.2 Transition from stance to slipping / p165 (0177.jp2)
- 6.3 Transition from swing to either stance or slipping / p165 (0177.jp2)
- 6.4 Transition from slipping to swing / p165 (0177.jp2)
- 6.5 Transition from slipping to stance / p166 (0178.jp2)
- 6.6 Summary / p166 (0178.jp2)
- References of Chapter 6 / p167 (0179.jp2)
- Chapter 7 Forward Dynamics Model with the Impact Model on Rough Terrain / p168 (0180.jp2)
- 7.1 Imbedding of the forward dynamics into an ordinary differential equations / p168 (0180.jp2)
- 7.2 Automatic selection of the feet conditions / p171 (0183.jp2)
- 7.3 Numerical experiments of the forward dynamics model with the impact model / p171 (0183.jp2)
- 7.4 Summary / p181 (0193.jp2)
- Chapter 8 Conclusions / p183 (0195.jp2)
- Acknowledgment / p185 (0197.jp2)