書誌事項
- タイトル別名
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- Realization of High-Speed Flat-Footed Passive Dynamic Walking using Ankle Inerters
- アシクビ ノ イナーター オ リヨウ シタ コウソク ヘイメン ソク ジュドウ ホコウ ノ ジツゲン
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抄録
In this paper, we present a novel robot achieving high-speed passive dynamic walking (PDW) using ankle inerters. Recent flat-footed biped robots have achieved energy-efficient walking using ankle elasticity. Biped robots with ankle elasticity cannot, however, easily achieve high-speed walking since they easily slip or bound during walking. To develop a biped robot achieving more various walking than conventional flat-footed robots with ankle elasticity, we have proposed a new biped robot with ankle springs and inerters at the ankles from a viewpoint of mechanical impedance. By simulation, we have shown that the flat-footed biped robot with ankle impedance achieves fast PDW using the ankle inerters. We have thus built a flat-footed passive dynamic walker with ankle springs and inerters as a robot achieving high-speed PDW. We show that our walker achieves high-speed PDW by simulations and experiments.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 31 (8), 721-729, 2013
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679704433408
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- NII論文ID
- 10031201178
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024937768
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可