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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/9578
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| タイトル: | Asymptotically stable biped gait generation based on stability principle of rimless wheel |
| 著者: | Asano, Fumihiko
Luo, Zhi-Wei |
| キーワード: | Gait generation
Biped robot
Asymptotic stability
Mechanical energy balance
Virtual passive dynamic walking |
| 発行日: | 2009-03-06 |
| 出版者: | Cambridge University Press |
| 誌名: | Robotica |
| 巻: | 27 |
| 号: | 6 |
| 開始ページ: | 949 |
| 終了ページ: | 958 |
| DOI: | 10.1017/S0263574709005372 |
| 抄録: | We investigated and identified the conditions necessary for stable dynamic gait generation in biped robots from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by two conditions; keeping the restored mechanical energy constant and settling the relative hip-joint angle to the desired value before impact. The generated gait then becomes asymptotically stable around the equilibrium point determined by these conditions. This is shown by a simple recurrence formula of the kinetic energy immediately before impact. We verified this stability theorem using numerical simulation of virtual passive dynamic walking. The results were compared with those for a rimless wheel and an inherent stability principle was derived. Finally, we derived a robust control law using a reference mechanical energy trajectory and demonstrated its effectiveness numerically. |
| Rights: | Copyright (C) 2009 Cambridge University Press. Fumihiko Asano and Zhi-Wei Luo, Robotica, 27(6), 2009, 949-958. http://dx.doi.org/10.1017/S0263574709005372 |
| URI: | http://hdl.handle.net/10119/9578 |
| 資料タイプ: | publisher |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| 13655-1.pdf | | 398Kb | Adobe PDF | 見る/開く |
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