Art

J-GLOBAL ID：201902264484847724   Reference number：19A2513407

Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope

緩斜面上の上体を有する平面二足歩行に及ぼす体幹動揺挙動の影響

Author (2)： HONJO Toyoyuki (National Defense Acad. of Japan, Kanagawa, JPN) ,  YOSHIDA Hidehisa (National Defense Acad. of Japan, Kanagawa, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 31  Issue： 5  Page： 686-696  Publication year： Oct. 20, 2019 
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： *bipedal locomotion ,  Body Regions ,  *angular momentum ,  biomedical simulation ,  *slope ,  swinging ,  human behavior ,  Gait ,  simulation ,  numerical analysis ,  input ,  drive ,  *walking robot ,  energy efficiency ,  upper body ,  simulation of walking ,  Torso ,  Lower body ,  Numerical Simulation ,  controlled input
Semi thesaurus term： 緩斜面 ,  平面二足歩行 ,  underactuated

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (23)：

• [1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
• [2] M. Haruna, M. Ogino, K. Hosoda, and M. Asada, “Yet another humanoid walking - passive dynamic walking with torso under simple control,” Proc. of the 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 259-264, 2001.
• [3] T. Narukawa, M. Takahashi, and K. Yoshida, “Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking,” Proc. of the 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4009-4014, 2005.
• [4] T. Das and R. Mukherjee, “Dynamic analysis of rectilinear motion of a self-propelling disc with unbalance masses,” Trans. ASME J. Appl. Mech., Vol.68, No.1, pp. 58-66, 2001.
• [5] L. L. Flynn, R. Jafari, and R. Mukherjee, “Active Synthetic-Wheel Biped With Torso,” IEEE Trans. on robotics, Vol.26, No.5, pp. 816-826, 2010.

Terms in the title (6)： 斜面 ,  上体 ,  二足歩行 ,  体幹 ,  動揺 ,  挙動