Realization of High-Speed Flat-Footed Passive Dynamic Walking using Ankle Inerters
-
- Hanazawa Yuta
- Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology
-
- Suda Hiroyuki
- Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology
-
- Yamakita Masaki
- Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology
Bibliographic Information
- Other Title
-
- 足首のイナーターを利用した高速平面足受動歩行の実現
- 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
Search this article
Abstract
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.
Journal
-
- Journal of the Robotics Society of Japan
-
Journal of the Robotics Society of Japan 31 (8), 721-729, 2013
The Robotics Society of Japan
- Tweet
Details 詳細情報について
-
- CRID
- 1390282679704433408
-
- NII Article ID
- 10031201178
-
- NII Book ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL BIB ID
- 024937768
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed