| Item type |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2017-11-21 |
| タイトル |
|
|
タイトル |
Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Biped robot |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Passive walking |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Torso control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Forced entrainment |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Energy efficiency |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Energy transformation |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Energy transfer |
| 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URI |
open access |
| 著者 |
Cao, Ying
Suzuki, Soichiro
Hoshino, Yohei
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
Passive walking robots can walk on a slight downward slope powered only by gravity. We propose a novel control strategy based on forced entrainment to stabilize a three-dimensional quasi-passive walking robot in uphill and level walking by using torso control in the frontal plane and synchronization of lateral motion with swing leg motion. We investigated the robot’s walking energy efficiency, energy transformation, and transfer in simulation. The results showed that the proposed method is effective and energy-efficient for uphill and level walking. The relationship between energy utilization rate of actuation and energy efficiency of the robot was revealed, and mechanical energy transformation and transfer were characterized. |
| 書誌情報 |
en : Robotica
巻 34,
号 03,
p. 483-496,
発行日 2014-07
|
| ISSN |
|
|
収録物識別子タイプ |
PISSN |
|
収録物識別子 |
0263-5747 |
| DOI |
|
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
https://doi.org/10.1017/S0263574714001593 |
| 権利 |
|
|
権利情報 |
c Cambridge University Press 2014 |
| 出版者 |
|
|
出版者 |
Cambridge University Press |
| 著者版フラグ |
|
|
言語 |
en |
|
値 |
author |
| 出版タイプ |
|
|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
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