Art

J-GLOBAL ID：201502209442661444   Reference number：15A0960075

3D Dynamic Biped Walker with Flat Feet and Ankle Springs: Passive Gait Analysis and Extension to Active Walking

高速な足と足首のスプリングを持つ3D動的二足ウォーカー:受動的な歩容解析とアクティブウォーキングへの展開

Author (7)： KINUGASA Tetsuya (Okayama Univ. Sci., Okayama, JPN) ,  ITO Takashi (Chiba Machine Ind. Corp., Chiba, JPN) ,  KITAMURA Hiroaki (Okayama Univ. Sci., Okayama, JPN) ,  ANDO Kazuhiro (Okayama Univ. Sci., Okayama, JPN) ,  FUJIMOTO Shinsaku (Okayama Univ. Sci., Okayama, JPN) ,  YOSHIDA Koji (Okayama Univ. Sci., Okayama, JPN) ,  IRIBE Masatsugu (Osaka Electro-Communication Univ., Osaka, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 27  Issue： 4  Page： 444-452  Publication year： Aug. 20, 2015 
JST Material Number： L0735A  ISSN： 0915-3942  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *gait ,  robustness ,  walking robot ,  *spring(machine element) ,  active control ,  design ,  control ,  *stability
Semi thesaurus term： gait transition ,  bipedal walking robot ,  spring ,  passive ,  passive control ,  elastic

JST classification (2)： Motion and control of robots  (IC04012J) ,  Design,manufacturing,and components of robots  (IC04013A)

Reference (21)：

• T. McGeer, “Passive Dynamic Walking,” CSS-IS TR, 88-02, 1988.
• K. Narioka and K. Hosda, “Study on Locomotion of Musculoskeletal Humanoid,” J. of Robotics Society of Japan, Vol.30, No.1, pp. 8-13, 2012.
• M. Wisse et al., “Ankle springs instead of arc-shaped feet for passive dynamic walkers,” Proc. of HUMANOIDS 06, pp. 110-116, 2006.
• T. Kinugasa et al., “3D Passive Walker with Sprung Ankle Springs and Flat Foot: A design method by natural frequency index without yaw and roll compensator,” Proc. of 2008 JSME Conf. on Robotics and Mechatronics, 1P1-B12, 2008.
• T. Kinugasa et al., “3D Passive Walker with Ankle Springs and Flat Feet,” J. of Robotics Society of Japan, Vol.27, No.10, pp. 1169-1172, 2009.

Terms in the title (8)： 足 ,  足首 ,  スプリング ,  3D ,  歩容 ,  解析 ,  ウォーキング ,  展開