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1A1-P09 Development of Bipedal Walking Robot with Human Foot Functions : Modeling of Foot and Identification of Foot-parameters(Walking Robot (1))
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- URAKUBO Yuji
- Ryukoku University
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- SHIBUYA Koji
- Ryukoku University
Bibliographic Information
- Other Title
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- 1A1-P09 人間の足部機能を有する2脚歩行ロボットの開発 : 足部のモデル化とパラメータの検討(脚移動ロボット(1))
Description
The goal of this study is to develop a robot foot with the arch mechanism of a human foot. Many researchers consider that the arch mechanism has a role of shock absorber and controlling body posture. We believe that the mechanism reduces the complexity of control of biped robots. We previously reported that we developed a biped robot using the Chebyshev link mechanism with only one actuator and a robot foot with an arch mechanism. In this paper, we report the modeling of the robot foot and some analytical results. First of all, we constructed a model of the mechanical foot in order to investigate such foot parameters as stiffness and damping factor. The model is represented as a two DOFs equation of damped oscillating motion. We performed numerical analyses using Runge-Kutta method, and we found that the simulation results were very similar to those of experiments.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (0), _1A1-P09_1-_1A1-P09_2, 2013
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282680914631424
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- NII Article ID
- 110009963747
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed