Passive Running Based on Hinged-Movement and Analysis of Fixed Point(Mechanical Systems)
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- SANO Akihito
- Graduate School of Engineering, Nagoya Institute of Technology
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- IKEMATA Yoshito
- Graduate School of Engineering, Nagoya Institute of Technology
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- MIYAMOTO Hiroki
- Graduate School of Engineering, Nagoya Institute of Technology
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- MARUYAMA Shintaro
- Graduate School of Engineering, Nagoya Institute of Technology
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- FUJIMOTO Hideo
- Graduate School of Engineering, Nagoya Institute of Technology
Bibliographic Information
- Other Title
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- 起こし回転型受動走行と平衡点解析(機械力学,計測,自動制御)
- 起こし回転型受動走行と平衡点解析
- オコシ カイテンガタ ジュドウ ソウコウ ト ヘイコウテン カイセキ
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Abstract
A passive running robot can run down a gentle slope with no energy source without gravity. The trajectory of its running motion is a limit cycle. Therefore, passive running may give us an important insight to develop the biped running robots. For example, when we throw a bar to the ground, it can jump rotating. This phenomenon is called "hinged-movement". In this paper, we focus on passive running based on the hinged-movement. First, the hinged-movement is confirmed by experiment, and is modeled. Secondly, passive running based on the hinged-movement is demonstrated by experiment. Thirdly, the fixed point of passive running is derived analytically. Finally, the stability of the fixed point is demonstrated by simulation.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 76 (767), 1763-1769, 2010
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206386013056
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- NII Article ID
- 110007682168
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 10784604
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
