2足歩行における制御目標値の決定
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概要
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Human walking is considered as an ideal model of a biped locomotion dynamics. In this paper, a control strategy of a biped machine is derived as a series of desired angle motion of each joint, such as an ankle, a shank and a thigh. Using video data system, joint angle movemert of human legs are mesured. By giving some constraints on the human legs, the degree of freedom of walking dynamics is reduced. From this data, time series of the desired joint angle is formulated based on a Fourier series representation. A computer simulation and an experiment using biped machine indicate that this angle data is one of the suitable reference control signal of the stable biped locomotion.
- 明治大学の論文