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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/8460

タイトル: Limiting Stance Leg Heel Angle by Sole Shape to Achieve Stable Passive Dynamic Walk
著者: Omido, Takeru
MIKAMI, Sadayoshi
Hyodo, Kazuyuki
アブストラクト: One of the ideal methods to stabilize passive dynamic walk is to reset the angle and the velocity of a swing leg to their initial values every time after a new gait phase begins. To achieve this, it was proposed to mechanically limit the range of the rotation of a hip joint. This drastically contributes to realize stable walk. But a hip joint limitation does not always ensure the same angle for the beginning of a swing leg, especially when an entire robot rapidly turns over. For an alternative approach, we propose a straight forward method where the angle of the starting swing leg is set to its initial value by constraining its angle at the bottom of its sole. We show that simply extending a sole shape toward a toe direction gives this effect. The proposed shape was applied to a 3D stick leg passive walker and achieved a long time non stopping walk. Computer simulations of a simplified stick walker model with this sole constraint shows that the mechanism widens stability of walk over a wide range of walking conditions.
研究業績種別: 国際会議/International Conference
資料種別: Conference Paper
査読有無: あり/yes
単著共著: 共著/joint
発表雑誌名,発表学会名など: 13th International Conference on Control, Automation, Robotics and Vision
開始ページ: Th37.6
年月日: 2014年12月10日
出現コレクション:三上 貞芳


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