3次元可変速二足歩行に関する実験的研究

DOI Web Site Web Site 被引用文献2件 参考文献8件

書誌事項

タイトル別名
  • Experimental Study on 3-D Speed-variable Biped Walking
  • 3ジゲン カヘンソク 2ソク ホコウ ニ カンスル ジッケンテキ ケンキュウ

この論文をさがす

抄録

In this paper, we present an experimental result of 3-D real-time speed-variable biped walking using our second prototype Ostrich-II. Ostrich-II has 10 degrees of freedom; 6 for sagittal plane and 4 for lateral plane. The synchronization of motions in both planes is very important to realize stable walking. We propose Virtual Inverted Pendulum(VIP) method as the solution. We introduce following two techniques; (a) synchronization of the motions in both planes, (b) realization of synchronized acceleration/deceleration. We made an actual biped machine and its control system. We confirmed the effectiveness of VIP method by laboratory experiment. Ostrich-II realizes variable real-time biped walking, such as steady walking (0.5s/step, 0.1m/s), acceleration( from 0.lm/s to 0.2m/s, etc.), and so on.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (8)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ