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Enhancing the Stability of Passive Dynamic Runner by Exploiting the Upper Body
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- Owaki Dai
- Tohoku University
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- Kubo Shota
- Tohoku University
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- Yamaguchi Shin'ichi
- Tohoku University
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- Tero Atsushi
- JST PRESTO
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- Maus Moritz
- FSU of Jena
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- Maufroy Christophe
- FSU of Jena
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- Seyfarth Andre
- FSU of Jena
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- Ishiguro Akio
- Tohoku University
Bibliographic Information
- Other Title
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- 上体を活用した受動走行機械の安定性向上
Description
In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Moreover, we discuss about the postural stabilization mechanism underlying PDR with an upper body, focusing on roly-poly toy.
Journal
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- Proceedings of the Japan Joint Automatic Control Conference
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Proceedings of the Japan Joint Automatic Control Conference 53 (0), 130-130, 2010
The Japan Joint Automatic Control Conference
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Details 詳細情報について
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- CRID
- 1390001205647221504
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- NII Article ID
- 130005025614
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- Text Lang
- ja
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed