Future University Hakodate Academic Archive >
研究者 >
複雑系知能学科 >
三上 貞芳 >

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/10445/8465

タイトル: 抑制足形状による2足受動歩行ロボットの歩行安定化原理を応用した歩行安定化促進靴
著者: 力石, 直也
菅原, 学
大御堂, 尊
兵頭, 和幸
三上, 貞芳
アブストラクト: Passive dynamic walking is one of the walking modes for a biped robot. In this mode, each leg is driven by gravitational forceand the walk continues as a series of inverted pendulums. Although it is an energy efficient walk mode, it is known as a highly conditionsensitivemethod. For this, we proposed a sole shape design that achieves stability of walking over a wide range of conditions such asinclination and surface of a road. This sole shape is designed to provide a recovery force by pressing onto a floor in cases where the bodyinclines too much. The stabilization effect is easily applicable to human shoes by simple attachments onto soles. By using this stabilizationeffect shoes, walking support, especially for elder persons not to turn over, is expected to be achieved naturally without any external power.We conducted preliminary experiments with elder persons using the shoes. As the result, it was shown that the most users felt ease to walkon flat floor and slight slopes.
研究業績種別: 原著論文/Original Paper
資料種別: Journal Article
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: バイオメカニズム学会誌
巻: 37
号: 1
開始ページ: 66
終了ページ: 69
年月日: 2013年1月
出版社: バイオメカニズム学会
出現コレクション:三上 貞芳


ファイル 記述 サイズフォーマット
2013-J-BioMech-Vol.37_No.1-Rikiishi.pdf1.1 MBAdobe PDF見る/開く



Powered by DSpace Software Copyright © 2002-2007 MIT and Hewlett-Packard