書誌事項
- タイトル別名
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- A Study on Biped Bike
- Biped Bike ニカンスルケンキュウ ヤジョウメン ウンドウ ノ カイセ
- Analysis and Control of Sagittal Plane Motion
- 矢状面運動の解析と制御
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抄録
We propose a biped locomotion system that its gait is changeable in real-time. Our targets are; artificial leg, slave machine, remote-brain home-robot, etc. Our dream is to develop new transportation tool that rider can control its gait. We call this imagination as “Biped Bike.”<br>In this paper, we discuss the way of real-time gait control of biped locomotion. We propose Virtual Inverted Pendulum (VIP) Method for controlling the walking speed. This method considers the continuity of biped walking especially on transient status such as acceleration and deceleration. The actual biped system is made and real-time gait control is realized using VIP method.
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) 117 (9), 1057-1062, 1997
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
- 1390001204658745728
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- NII論文ID
- 10002725094
- 10010454874
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 4284696
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- データソース種別
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- JaLC
- NDL
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