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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/10445/8462

タイトル: Stability Effect for Passive Dynamic Walker by Stance Leg Heel Angle Constraint Using Foot Shape
著者: Hyodo, Kazuyuki
Iwaguchi, Yuya
Takamura, Yoshiaki
MIKAMI, Sadayoshi
アブストラクト: One of the methods known to stabilize a passive dynamic walk is to restrict a hip joint angle. The hip restriction method effects as resetting the walking dynamics every time at the beginning of the walk. A Constraining Foot Shape is known to give the same effect by a more compact configuration. However, it was not clear how much this dynamics resetting effect will be given for a specific design parameter such as a length of the foot. This paper shows a numerical approach for this. Firstly, we show a dynamics of walking by 2D stick model with foot length. This is realized by considering a support point exchange effect. Secondly, we show a simulation results by this model. From this, we show that a longer foot will give a more strong effect of resetting walking dynamics. Finally, we demonstrate the validity of this model by making an actual hardware of 2D stick model with foot length. In this model, a scuffing effect was avoided by using landing islands on a slope.
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: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics
開始ページ: 473
終了ページ: 477
年月日: 2015年10月30日
出現コレクション:三上 貞芳


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