WEKO3
アイテム
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
https://kitami-it.repo.nii.ac.jp/records/7584bb2d8f3e-64d7-4283-9767-71e2a724686d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
No27.pdf (1.2 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2014-02-25 | |||||
| タイトル | ||||||
| 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 | |||||
| 言語 | ja | |||||
| タイトル | ||||||
| タイトル | Stability Control of a Biped Passive Walker by Periodic Input Based on the Frequency Entrainment | |||||
| 言語 | en | |||||
| 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 | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | 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 | |||||
| 著者 |
鈴木, 聡一郎
× 鈴木, 聡一郎× 蜂谷, 正泰× 清水, 健二× 岩倉, 祐太× 高田, 将充 |
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| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 38745 | |||||
| 姓名 | SUZUKI, Soichiro | |||||
| 言語 | en | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 38746 | |||||
| 姓名 | HACHIYA, Masayasu | |||||
| 言語 | en | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 38747 | |||||
| 姓名 | SHIMIZU, Kenji | |||||
| 言語 | en | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 38748 | |||||
| 姓名 | IWAKURA, Yuta | |||||
| 言語 | en | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 38749 | |||||
| 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 |
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| 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 | |||||
| 言語 | ja | |||||
| 著者版フラグ | ||||||
| 言語 | en | |||||
| 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 | |||||
