2A2-E24 Passive Dynamic Running Biped with Upper Body
スポンサーリンク
概要
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In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). To this end, we have modeled a passive dynamic running biped with upper body in a numerical simulator. Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Our results shed new light on the principles underlying bipedal locomotion; in particular to what extent of the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.
- 一般社団法人日本機械学会の論文
著者
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Ishiguro Akio
Tohoku University
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Seyfarth Andre
Fsu Of Jena
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Maus Moritz
Fsu Of Jena
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OWAKI Dai
Tohoku University
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KUBO Shota
Tohoku University
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TERO Atsushi
JST PREST
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MAUFROY Christophe
FSU of Jena
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Yamaguchi Shin'ichi
Tohoku University
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TERO Atsushi
Department of Mathematical Sciences, Faculty of Mathematics, Kyushu University
関連論文
- 2A2-E24 Passive Dynamic Running Biped with Upper Body
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