書誌事項
- タイトル別名
-
- The analysis of biped locomotion by the extended ballistic model. Construction of model and simulation.
- カクチョウガタ バリスティック モデル ニ オケル 2ソク ホコウ カイセキ
この論文をさがす
抄録
In this paper a new model is developed to explain complex biped locomotion. This model is based on a ballistic walking model which assumes no torque on any joints in the swing phase, and uses the penalty function to solve the constrained dynamics of the stance phase and the swing phase. The computer simulation using the model showed that successful walking requires; (1) equality and inequality constraints such as to lock the knee of the stance leg extended, (2) the turning point of the joint torque in order to move the center of gravity of the body then the swing leg forward, (3) the ankle torque of the swing leg in order to avoid stumbling.
収録刊行物
-
- 日本機械学会論文集C編
-
日本機械学会論文集C編 56 (532), 3306-3310, 1990
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282681271366656
-
- NII論文ID
- 110002379412
-
- NII書誌ID
- AN00187463
-
- ISSN
- 18848354
- 03875024
-
- NDL書誌ID
- 3686149
-
- 本文言語コード
- ja
-
- 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