The analysis of biped locomotion by the extended ballistic model. Construction of model and simulation.
Bibliographic Information
- Other Title
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- 拡張形バリスティックモデルにおける二足歩行解析 モデルの構築と計算機実験
- 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
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Abstract
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.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 56 (532), 3306-3310, 1990
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282681271366656
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- NII Article ID
- 110002379412
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 3686149
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed