Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes-Effect of Double Support Phase in Whole Biped Walking
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- Zhu Chi
- Department of Electrical and Computer Engineering, Graduate School of Engineering, Yokohama National University
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- Kawamura Atsuo
- Department of Electrical and Computer Engineering, Graduate School of Engineering, Yokohama National University
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In this paper, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization of the motions in sagittal and lateral planes is developed. The analysis of the motions both in the sagittal and lateral planes reveals that the motions in these two planes are tightly coupled together. The motion parameters such as walking speed, phase motion time, and phase stride can be easily adjusted simply by altering the start and finish points of double support phases in the lateral plane. Consequently, a new bipedal walking pattern for adjusting walking speed by controlling the double support phase is developed. Moreover, it is pointed out that smooth and fast walking can be obtained by shortening the double support phase after a high instantaneous speed is reached at the end of the acceleration phase. Such a walking pattern is very similar to a walker's pattern in the walking race. The procedures of motion planning are also proposed and a numerical example is presented.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 126 (8), 1069-1078, 2006
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204657463296
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- NII論文ID
- 10018182013
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 8055001
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可