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  1. 学術雑誌掲載済論文
  2. 和雑誌

引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御

https://kitami-it.repo.nii.ac.jp/records/7584
bb2d8f3e-64d7-4283-9767-71e2a724686d
名前 / ファイル ライセンス アクション
No27.pdf No27.pdf (1.2 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2014-02-25
タイトル
言語 ja
タイトル 引き込みを利用した周期入力による二足受動歩行ロボットの安定化制御
タイトル
言語 en
タイトル Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment
言語
言語 jpn
キーワード
主題Scheme Other
主題 Motion Control
キーワード
主題Scheme Other
主題 Controller
キーワード
主題Scheme Other
主題 Biped Passive Walk
キーワード
主題Scheme Other
主題 Frequency Entrainment
キーワード
主題Scheme Other
主題 Oscillator
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
その他のタイトル
その他のタイトル Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment
著者 鈴木, 聡一郎

× 鈴木, 聡一郎

WEKO 44814
KAKEN 30250541

ja 鈴木, 聡一郎

Search repository
蜂谷, 正泰

× 蜂谷, 正泰

WEKO 38741

ja 蜂谷, 正泰

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清水, 健二

× 清水, 健二

WEKO 38742

ja 清水, 健二

Search repository
岩倉, 祐太

× 岩倉, 祐太

WEKO 38743

ja 岩倉, 祐太

Search repository
高田, 将充

× 高田, 将充

WEKO 38744

ja 高田, 将充

Search repository
著者別名
姓名
姓名 SUZUKI, Soichiro
言語 en
著者別名
姓名
姓名 HACHIYA, Masayasu
言語 en
著者別名
姓名
姓名 SHIMIZU, Kenji
言語 en
著者別名
姓名
姓名 IWAKURA, Yuta
言語 en
著者別名
姓名
姓名 TAKADA, Masamichi
言語 en
抄録
内容記述タイプ Abstract
内容記述 It is difficult to stabilize the three dimensional biped passive walker in various environments because the range of the initial conditions for stable walk is narrow. In this study, a three dimensional biped passive walker was newly designed as a passive walk platform in order to make the success rate of the passive walk high. A new control method that would be able to stabilize the passive walker by using a mechanical oscillator was examined. The target path of the oscillator was generated by utilizing the frequency entrainment in order to synchronize the oscillator movement with the changing motion of the stance leg in the frontal plane. Stability of this passive walker was analytically examined by limit cycle of the frontal movement. A period of the changing motion of the stance leg was synchronized with the period of the swing leg by periodic input generated by the mechanical oscillator. It was demonstrated that the passive walker was stabilized when a frontal motion period was synchronized with a swing leg period in various slope angles. Consequently, it was experimentally examined that the passive walker could be stabilized on various slopes and flat floor.
書誌情報 日本機械学会論文集 C編

巻 76, 号 771, p. 3058-3065, 発行日 2010-11
権利
権利情報 c2009 日本機械学会
出版者
出版者 一般社団法人日本機械学会
著者版フラグ
値 publisher
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
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