2A2-F07 半円足を利用した衝突姿勢の非対称化による動的歩容生成

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概要

• 論文の詳細を見る

• The authors have proposed a novel gait generation method based on asymmetrization of impact posture using the model of rimless wheel with telescopic legs. In this paper, we attach semicircular feet to this model, and investigate what effect the foot shape had on the gait efficiency. We can expect that the gait efficiency is improved by the geometric and physical effects of feet, and that the excessive speed-up in our previous model is suppressed by the braking effect. In addition, we mathematically investigate the geometric action of the toe support phase on the impact posture, and examine the effect through numerical simulations.

• 一般社団法人日本機械学会の論文

著者

• 浅野 文彦

  理研

• 浅野 文彦

  Japan Advanced Institute Of Science And Technology

• 勝呂 雅士

  Japan Advanced Institute of Science and Technology

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• 2P1-B25 MLDモデルを用いた2足歩行ロボットのオンライン歩容生成
• 2A2-F07 半円足を利用した衝突姿勢の非対称化による動的歩容生成

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