書誌事項
- タイトル別名
-
- Experimental Study on 3-D Speed-variable Biped Walking
- 3ジゲン カヘンソク 2ソク ホコウ ニ カンスル ジッケンテキ ケンキュウ
この論文をさがす
説明
In this paper, we present an experimental result of 3-D real-time speed-variable biped walking using our second prototype Ostrich-II. Ostrich-II has 10 degrees of freedom; 6 for sagittal plane and 4 for lateral plane. The synchronization of motions in both planes is very important to realize stable walking. We propose Virtual Inverted Pendulum(VIP) method as the solution. We introduce following two techniques; (a) synchronization of the motions in both planes, (b) realization of synchronized acceleration/deceleration. We made an actual biped machine and its control system. We confirmed the effectiveness of VIP method by laboratory experiment. Ostrich-II realizes variable real-time biped walking, such as steady walking (0.5s/step, 0.1m/s), acceleration( from 0.lm/s to 0.2m/s, etc.), and so on.
収録刊行物
-
- 電気学会論文誌D(産業応用部門誌)
-
電気学会論文誌D(産業応用部門誌) 118 (1), 10-15, 1998
一般社団法人 電気学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679636518144
-
- NII論文ID
- 10002725914
-
- NII書誌ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL書誌ID
- 4379946
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可