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

DOI 機関リポジトリ HANDLE Web Site Web Site 被引用文献2件 参考文献5件

書誌事項

タイトル別名
  • Walk Support Shoes by the Principle of the Passive Dynamic Biped Robot Stabilization Using Constraining Foot Shape
  • ヨクセイ アシガタジョウ ニ ヨル 2ソク ジュドウ ホコウ ロボット ノ ホコウ アンテイカ ゲンリ オ オウヨウ シタ ホコウ アンテイカ ソクシングツ

この論文をさがす

抄録

Passive dynamic walking is one of the walking modes for a biped robot. In this mode, each leg is driven by gravitational force and the walk continues as a series of inverted pendulums. Although it is an energy efficient walk mode, it is known as a highly conditionsensitive method. For this, we proposed a sole shape design that achieves stability of walking over a wide range of conditions such as inclination and surface of a road. This sole shape is designed to provide a recovery force by pressing onto a floor in cases where the body inclines too much. The stabilization effect is easily applicable to human shoes by simple attachments onto soles. By using this stabilization effect 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 walk on flat floor and slight slopes.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (5)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ