Art

J-GLOBAL ID：202002221209960217   Reference number：20A0108840

Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass

アクティブ制御された揺動質量型機構を用いた高速二足歩行の解析

Author (4)： HANAZAWA Yuta (Kyushu Inst. of Technol., Fukuoka, JPN) ,  HAYASHI Terumitsu (Yaskawa Electric Corp., Fukuoka, JPN) ,  YAMAKITA Masaki (Tokyo Inst. of Technol., Tokyo, JPN) ,  ASANO Fumihiko (Japan Advanced Inst. of Sci. and Technol., Ishikawa, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 31  Issue： 6  Page： 871-881  Publication year： Dec. 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： *active control ,  swinging ,  *walking robot ,  *energy efficiency ,  limit cycle ,  velocity ,  running
Semi thesaurus term： *bipedal walking robot ,  legged robot ,  high speed running ,  Walking Speed ,  fluctuation

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

Reference (14)：

• [1] T. McGeer, “Passive dynamic walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
• [2] S. H. Collins and A. Ruina, “A bipedal walking robot with efficient and human-like gait,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1983-1988, 2005.
• [3] F. Asano and Z. W. Luo, “Efficient dynamic bipedal walking using effects of semicircular feet,” Robotica, Vol.29, No.3, pp. 351-365, 2011.
• [4] F. Asano and Z. W. Luo, “Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation,” IEEE Trans. on Robotics, Vol.24, No.6, pp. 1289-1301, 2008.
• [5] Y. Banno, K. Taji, Y. Harata, and K. Seta, “A modified kneed biped real robot based on parametric excitation principle,” Automation Control and Intelligent Systems, Vol.2, No.5, pp. 93-99, 2014.

Terms in the title (5)： アクティブ制御 ,  揺動 ,  質量 ,  二足歩行 ,  解析