揺動による4脚準受動的動歩行の実現と非ホロノミックモデルに基づく運動解析

DOI Web Site 被引用文献2件 参考文献18件

書誌事項

タイトル別名
  • Realization of Quadrupedal Quasi-passive Dynamic Walking Driven by Rocking Motion and Motion Analysis based on a Nonholonomic Model
  • ヨウドウ ニ ヨル 4キャク ジュンジュドウテキドウ ホコウ ノ ジツゲン ト ヒホロノミックモデル ニ モトズク ウンドウ カイセキ

この論文をさがす

抄録

In this paper, a quadrupedal quasi-passive dynamic walking robot driven by a rocking motion has been investigated. Experimental results show that the robot can walk on the level ground and that a walking speed is related to a period and a phase difference of the rocking motion. Through investigation of a shape of soles, we revealed Duke has a nonholonomic constraint that is comparable to that of a kinematic model of “two-wheeled mobile robot” on its sole. As a result of analyses based on the nonlinear control theory, we conclude that the sole shape contributes to a transition of walking speed accompanying with change of the phase difference.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (18)*注記

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