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Study on principle of optimal control for energy-efficient walking systems

Research Project

Project/Area Number 18360115
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionThe Institute of Physical and Chemical Research

Principal Investigator

ASANO Fumihiko  The Institute of Physical and Chemical Research, Environment Adaptive Robotic Systems Laboratory, Researcher (70415066)

Co-Investigator(Kenkyū-buntansha) LUO Zhi-Wei  Kobe University, Graduate School of Engineering, Department of Computer Science and Systems Engineering, Professor (70242914)
Project Period (FY) 2006 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥12,600,000 (Direct Cost: ¥11,400,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2007: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2006: ¥7,400,000 (Direct Cost: ¥7,400,000)
KeywordsDynamic walking / Biped robot / Gait generation / Energy efficiency / Optimal control
Research Abstract

We have studied robotic biped gait generation based on its dynamics and improvement of the gait efficiency theoretically and experimentally. It is empirically known that the convex curve of the foot, which characterizes passive-dynamic walkers, has important effects on increasing the walking speed. We mathematically clarified the effects of semicircular feet; acting as the virtual ankle-joint torque during the stance phase and reducing the energy dissipation caused by heel strikes, and confirmed that they dramatically improve the gait efficiency through numerical simulations. Parametrically excited dynamic bipedal walking is also our main research subject. We finally completed an experimental walking machine and succeeded its stable level walking by adjusting the physical and control parameters. The experimental result was highly-appraised internationally. In the theoretical investigation, we have considered to achieve parametrically excitation by actuating the knee joint, and successfully applied the effect to level gait generation. We further proposed several advanced methods; parametric excitation based on up-and-down motion of robot's center of mass and ornithoid walking by inverse knee-joint bending, and compared their gait efficiency. Furthermore, we have investigated the gait stability of limit cycle walkers from the viewpoint of mechanical energy balance. We then identified the conditions necessary to systematically achieve this energy balance and clarified their physical meanings. We also considered applying a bisecting hip mechanism (BHM) for adding an upper body to passive-dynamic walkers without destroying their natural dynamics. By clarifying the robot's driving mechanism incorporating the BHM, we successfully achieved its efficient level dynamic walking. Throughout our investigations, we provided novel insights and deep understandings into how energy-efficient and ZMP-free robots can generate a dynamic bipedal gait.

Report

(3 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • Research Products

    (85 results)

All 2008 2007 2006

All Journal Article (11 results) (of which Peer Reviewed: 6 results) Presentation (69 results) Book (5 results)

  • [Journal Article] Rimless Wheelの安定原理に基づくコンパス型2足ロボットの漸近安定歩容生成2008

    • Author(s)
      浅野文彦
    • Journal Title

      日本ロボット学会誌 Vol.26,No.4

      Pages: 351-362

    • NAID

      10021142447

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Asymptotically stable gait generation for compass-liked biped robot based on stability principle of rimless wheel2008

    • Author(s)
      Fumihiko Asano
    • Journal Title

      Journal of the Robotics Society of Japan 26, 4

      Pages: 351-362

    • NAID

      10021142447

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Rimless Wheelの安定原理に基づくコンパス型2足ロボットの漸近安定歩容生成2008

    • Author(s)
      浅野 文彦, 羅 志偉, 山北 昌毅
    • Journal Title

      日本ロボット学会誌 26(印刷中)

    • NAID

      10021142447

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行-(I)コンパス型モデルの駆動力学2007

    • Author(s)
      浅野文彦
    • Journal Title

      日本ロボット学会誌 Vol.25,No.4

      Pages: 566-577

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行-(II)性能解析と冗長モデルへの拡張2007

    • Author(s)
      浅野文彦
    • Journal Title

      日本ロボット学会誌 Vol.25,No.4

      Pages: 578-588

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Underactuated virtual passive dynamic walking using rolling effect of semicircular feet(I) On driving mechanisms of compass-like models2007

    • Author(s)
      Fumihiko Asano
    • Journal Title

      Journal of the Robotics Society of Japan 25, 4

      Pages: 566-577

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Underactuated virtual passive dynamic walking using rolling effect of semicircular feet(II) Performance analyses and extension to redundant models2007

    • Author(s)
      Fumihiko Asano
    • Journal Title

      Journal of the Robotics Society of Japan 25, 4

      Pages: 578-588

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行(I)コンパス型モデルの駆動力学2007

    • Author(s)
      浅野 文彦, 羅 志偉
    • Journal Title

      日本ロボット学会誌 25

      Pages: 566-577

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行(II)性能解析と冗長モデルへの拡張2007

    • Author(s)
      浅野 文彦, 羅 志偉
    • Journal Title

      日本ロボット学会誌 25

      Pages: 578-588

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行(I)2007

    • Author(s)
      浅野文彦, 羅志偉
    • Journal Title

      日本ロボット学会誌 Vol.25, No.4(印刷中)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 半円足の転がり効果を利用した劣駆動仮想受動歩行(II)2007

    • Author(s)
      浅野文彦, 羅志偉
    • Journal Title

      日本ロボット学会誌 Vol.25, No.4(印刷中)

    • Related Report
      2006 Annual Research Report
  • [Presentation] パラメータ励振に基づく鳥脚歩容生成2008

    • Author(s)
      原田祐志,浅野文彦,田地宏一,宇野洋二
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 弾道歩容の性能と対称性2008

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 擬似仮想受動歩行とその性能-カウンターウェイトとしての上体の効果-2008

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] パラメータ励振原理に基づく2脚動歩行の実験的検証2008

    • Author(s)
      林健志,金子和晃,浅野文彦,原田祐志,平野慎也,羅志偉,加藤厚生
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野県)
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Parametric excitation based gait generation for ornithoid walking2008

    • Author(s)
      Yuji Harata, Fumihiko Asano, Kouichi Taji, Yoji Uno
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Nagano
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Efficiency and symmetry of ballistic gait2008

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Nagano
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Pseudo virtual passive dynamic walking and its efficiency -Effect of upper body as counterweight-2008

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Nagano
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Experimental study of dynamic bipedal walking based on principle of parametric excitation2008

    • Author(s)
      Takeshi Hayashi, Kazuaki Kaneko, Fumihiko Asano, Yuji Harata, Shiya Hirano, Zhi-Wei Luo, Atsuo Kato
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Nagano
    • Year and Date
      2008-06-06
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Underactuated virtual passive dynamic walking with an upper body2008

    • Author(s)
      Fumihiko Asano and Zhi-Weil Luo
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      アメリカ,パサデナ
    • Year and Date
      2008-05-22
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Underactuated virtual passive dynamic walking with an upper body2008

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Robotics and Automation
    • Year and Date
      2008-05-22
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymptotic stability of dynamic bipedal gait with constraint on impact posture2008

    • Author(s)
      Fumihiko Asano and Zhi-Weil Luo
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      アメリカ,パサデナ
    • Year and Date
      2008-05-21
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymptotic stability of dynamic bipedal gait with constraint on impact posture2008

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Robotics and Automation
    • Year and Date
      2008-05-21
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 衝突姿勢拘束を持つ動的歩容の漸近安定性2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第8回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      広島国際大学(広島県)
    • Year and Date
      2007-12-20
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Quantifying Gait Robustness of Passive Dynamic Robots2007

    • Author(s)
      Ivar Thorson, Mikhail Svinin, Shigeyuki Hosoe, Fumihiko Asano, and Kouichi Taji
    • Organizer
      第8回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      広島国際大学(広島県)
    • Year and Date
      2007-12-20
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymptotic stability of dynamic gait with constraint on impact posture2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 8th SICE System Integration Division Annual Conference
    • Place of Presentation
      Hiroshima
    • Year and Date
      2007-12-20
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Quantifying gait robustness of passive dynamic robots2007

    • Author(s)
      Ivar Thorson, Mikhaill Svinin, Shigeyuki Hosoe, Fumihiko Asano, Kouichi Taji
    • Organizer
      Proceedings of the 8th SICE System Integration Division Annual Conference
    • Place of Presentation
      Hiroshima
    • Year and Date
      2007-12-20
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 衝突姿勢拘束を考慮した動的歩容の漸近安定性2007

    • Author(s)
      浅野 文彦
    • Organizer
      第8回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      広島国際大学
    • Year and Date
      2007-12-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Quantifying Gait Robustness of Passive Dynamic Robots2007

    • Author(s)
      Ivar Thorson
    • Organizer
      第8回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      広島国際大学
    • Year and Date
      2007-12-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Asymptotic stable gait generation for biped robot based on mechanical energy balance2007

    • Author(s)
      Fumihiko Asano and Zhi-Wei Luo
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      アメリカ,サンディエゴ
    • Year and Date
      2007-11-01
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymptotic stable gait generation for biped robot based on mechanical energy balance2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems
    • Place of Presentation
      San Diego, CA, USA
    • Year and Date
      2007-11-01
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Biped gait generation based on parametric excitation by knee-joint actuation2007

    • Author(s)
      Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji, and Yoji Uno
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      アメリカ,サンディエゴ
    • Year and Date
      2007-10-31
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Parametric excitation approaches to efficient dynamic biped locomotion2007

    • Author(s)
      Fumihiko Asano, Takeshi Hayashi, Zhi-Wei Luo, Shinya Hirano, Atsuo Kato
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      アメリカ,サンディエゴ
    • Year and Date
      2007-10-31
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Biped gait generation based on parametric excitation by knee-joint actuation2007

    • Author(s)
      Yuji Harata, Fumihiko Asano, Kouichi Taji, Yoji Uno
    • Organizer
      Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems
    • Place of Presentation
      San Diego, CA, USA
    • Year and Date
      2007-10-31
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Parametric excitation approaches to efficient dynamic bipedal walking2007

    • Author(s)
      Fumihiko Asano, Takeshi Hayashi, Zhi-Wei Luo, Shinya Hirano, Atsuo Kato
    • Organizer
      Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems
    • Place of Presentation
      San Diego, CA, USA
    • Year and Date
      2007-10-31
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Biped Gait Generation based on Parametric Excitation by Knee-joint Actuation2007

    • Author(s)
      Yuji Harata
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      San Diego,USA
    • Year and Date
      2007-10-31
    • Related Report
      2007 Annual Research Report
  • [Presentation] Parametric Excitation Approaches to Efficient Dynamic Bipedal Walking2007

    • Author(s)
      Takeshi Hayashi
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      San Diego,USA
    • Year and Date
      2007-10-31
    • Related Report
      2007 Annual Research Report
  • [Presentation] Asymptotically Stable Gait Generation for Biped Robot Based on Mechanical Energy Balance2007

    • Author(s)
      Fumihiko Asano
    • Organizer
      IEEE/RSJ International Conference on Intenlligent Robots and Systems
    • Place of Presentation
      San Diego,USA
    • Year and Date
      2007-10-01
    • Related Report
      2007 Annual Research Report
  • [Presentation] 上体を有する劣駆動2脚ロボットの動歩行解析-股関節二分機構を用いた高効率動歩行の実現-2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉工業大学(千葉県)
    • Year and Date
      2007-09-13
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Dynamic walking analyses of underactuated biped robot with upper body -Efficient dynamic walking by means of bisecting hip mechanism-2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 25th Annual Conference of the Robotics Society of Japan, 1G31
    • Place of Presentation
      Narashino
    • Year and Date
      2007-09-13
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 上体を有する劣駆動2脚ロボットの動歩行解析-股関節二分機構を用いた高効率動歩行の実現2007

    • Author(s)
      浅野 文彦
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉工業大学
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] On driving mechanism and singularity of virtual passive dynamic walking2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 12th Robotics Symposia
    • Place of Presentation
      Nagaoka
    • Year and Date
      2007-05-15
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 力学的エネルギーサイクルの観点から見た受動膝関節の存在意義2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田県)
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 半円足形状の非対称性とその歩行性能に対する効果2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田県)
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 力学的エネルギー平衡に基づく漸近安定歩容生成2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田県)
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Design considerations for a variable stiffness actuator in a robot that walks and runs2007

    • Author(s)
      Ivar Thorson, Mikhail Svinin, Shigeyuki Hosoe, Fumihiko Asano, and Kouichi Taji
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田県)
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 膝関節駆動によるパラメータ励振に基づく2脚歩容生成2007

    • Author(s)
      原田祐志,浅野文彦,羅志偉,田地宏一,宇野洋二
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田県)
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Role of passive knee-joints from mechanical energy cycle point of view2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Akita
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymmetric shape of semicircular feet and its effect on gait performance2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Akita
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Asymptotically stable gait generation based on mechanical energy balance2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Akita
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Design considerations for a variable stiffness actuator in a robot that walks and runs2007

    • Author(s)
      Ivar Thorson, Mikhaill Svinin, Shigeyuki Hosoe, Fumihiko Asano, Kouichi Taji
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Akita
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Biped gait generation based on parametric excitation by knee-joint's Actuation2007

    • Author(s)
      Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji, Yoji Uno
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics
    • Place of Presentation
      Akita
    • Year and Date
      2007-05-11
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 力学的エネルギーサイクルの観点から見た受動膝関節の存在意義2007

    • Author(s)
      浅野 文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] 半円形状の非対称性とその歩行性能に対する効果2007

    • Author(s)
      浅野 文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] 力学的エネルギー平衡に基づく漸近安定歩容生成2007

    • Author(s)
      浅野 文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] 膝関節駆動によるパラメータ励振に基づく2脚歩容生成2007

    • Author(s)
      原田 祐志
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] Design Considerations for a Variable Stiffness Actuator in a Robot that Walks and Runs2007

    • Author(s)
      Ivar Thorson
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] Dynamic analyses of underactuated virtual passive dynamic walking2007

    • Author(s)
      Fumihiko Asano and Zhi-Weil Luo
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      イタリア,ローマ
    • Year and Date
      2007-04-13
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] The effect of semicircular feet on energy dissipation by heel-strike in dynamic bipedal walking2007

    • Author(s)
      Fumihiko Asano and Zhi-Wei Luo
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      イタリア,ローマ
    • Year and Date
      2007-04-13
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Dynamic analyses of underactuated virtual passive dynamic walking2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Roma, Italy
    • Year and Date
      2007-04-13
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] The effect of semicircular feet on energy dissipation by heel-strike in dynamic bipedal walking2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Roma, Italy
    • Year and Date
      2007-04-13
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Dynamic Analyses of Underactuated Virtual Passive Dynamic Walking2007

    • Author(s)
      Fumihiko Asano
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Rome,Italy
    • Year and Date
      2007-04-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] The Effect of Semicircular Feet on Energy Dissipation by Heel-Strike in Dynamic Biped Locomotion2007

    • Author(s)
      Fumihiko Asano
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Rome,Italy
    • Year and Date
      2007-04-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] 仮想受動歩行の駆動力学と特異点問題について2007

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第12回ロボティクス・シンポジア
    • Place of Presentation
      蓬平温泉(新潟県)
    • Year and Date
      2007-03-15
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 冗長系の劣駆動仮想受動歩行について2006

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第7回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      札幌コンベンションセンター(北海道)
    • Year and Date
      2006-12-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] パラメータ励振に基づく平地2脚動歩行の実験的検証2006

    • Author(s)
      林健志,浅野文彦,羅志偉,平野慎也,加藤厚生
    • Organizer
      第7回SICEシステムインテグレーション部門講演会
    • Place of Presentation
      札幌コンベンションセンター(北海道)
    • Year and Date
      2006-12-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] On underactuated virtual passive dynamic walking with redundancy2006

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 8th SICE System Integration Division Annual Conference
    • Place of Presentation
      Sapporo
    • Year and Date
      2006-12-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Experimental study of a level dynamic bipedal walking based on parametric excitation2006

    • Author(s)
      Takeshi Hayashi, Fumihiko Asano, Zhi-Wei Luo, Shinya Hiorano, Atsuo Kato
    • Organizer
      Proceedings of the 8th SICE System Integration Division Annual Conference
    • Place of Presentation
      Sapporo
    • Year and Date
      2006-12-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 2脚動歩行における半円足のエネルギー損失に対する効果2006

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第49回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫県)
    • Year and Date
      2006-11-26
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 仮想拘束を用いた二足歩行ロボットの動的制御2006

    • Author(s)
      原田祐志,浅野文彦,羅志偉,田地宏一,宇野洋二
    • Organizer
      第49回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫県)
    • Year and Date
      2006-11-26
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] The effect of semicircular feet on energy dissipation in dynamic bipedal walking2006

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 49th Japan Joint Automatic Control Conference
    • Place of Presentation
      Kobe
    • Year and Date
      2006-11-26
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Dynamic control for a biped walking robot based on virtual constraints2006

    • Author(s)
      Yuji Harata, Zhi-Wei Luo, Fumihiko Asano, Kouichi Taji, Yoji Uno
    • Organizer
      Proceedings of the 49th Japan Joint Automatic Control Conference
    • Place of Presentation
      Kobe
    • Year and Date
      2006-11-26
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] On energy-efficient and high-speed dynamic biped locomotion with semicircular feet2006

    • Author(s)
      Fumihiko Asano and Zhi-Wei Luo
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      中国,北京
    • Year and Date
      2006-10-13
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] On energy-efficient and high-speed dynamic biped locomotion with semi-circular feet2006

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 2006 IEEE/RSJ International Conference of Intelligent Robots and Systems
    • Place of Presentation
      Beijing, China
    • Year and Date
      2006-10-13
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] パラメータ励振に基づく高効率2脚歩行ロボットの開発2006

    • Author(s)
      林健志,浅野文彦,羅志偉,平野慎也,加藤厚生
    • Organizer
      第24回日本ロボット学会学術講演会
    • Place of Presentation
      岡山大学(岡山県)
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 足のころがり効果を利用した劣駆動仮想受動歩行2006

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第24回日本ロボット学会学術講演会
    • Place of Presentation
      岡山大学(岡山県)
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Development of an energy-efficient biped robot by parametric excitation2006

    • Author(s)
      Takeshi Hayashi, Fumihiko Asano, Zhi-Wei Luo, Shinya Hirano, Atsuo Kato
    • Organizer
      Proceeding of the 24th Annual Conference of the Robotics Society of Japan, 1F14
    • Place of Presentation
      Okayama
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Underactuated virtual passive dynamic walking using rolling effect of feet2006

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the 24th Annual Conference of the Robotics Society of Japan, 1F22
    • Place of Presentation
      Okayama
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] エネルギー効率に優れた歩行メカニズムを求めて2006

    • Author(s)
      浅野文彦,羅志偉
    • Organizer
      第6回SICE制御部門大会
    • Place of Presentation
      ウィル愛知(愛知県)
    • Year and Date
      2006-05-31
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Toward energy-effcient dynamic walking mechanisms2006

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Organizer
      Proceedings of the SICE 6th Annual Conference on Control Systems
    • Place of Presentation
      Nagoya
    • Year and Date
      2006-05-31
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Book] Humanoid Robots-New Developments, Advanced Robotic Systems International2007

    • Author(s)
      Fumihiko Asano
    • Total Pages
      20
    • Publisher
      I-Tech
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Book] Bioinspiration and Robotics : Walking and Climbing Robots2007

    • Author(s)
      Fumihiko Asano
    • Total Pages
      14
    • Publisher
      I-Tech Education and Publishing
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Book] Humanoid Robots-New Developments, Advanced Ronbotic Systems International2007

    • Author(s)
      Fumihiko Asano, Masaki Yamakaita, Norihiro Kamamichi,Zhi-Wei Luo
    • Total Pages
      20
    • Publisher
      I-Tech
    • Related Report
      2007 Annual Research Report
  • [Book] Bioinspiration and Robotics:Walking and Climbing Robots2007

    • Author(s)
      Fumihiko Asano, Zhi-Wei Luo
    • Total Pages
      14
    • Publisher
      I-Tech Education and Publication
    • Related Report
      2007 Annual Research Report
  • [Book] 数理科学2007

    • Author(s)
      浅野文彦
    • Total Pages
      7
    • Publisher
      サイエンス社
    • Related Report
      2006 Annual Research Report

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Published: 2006-04-01   Modified: 2016-04-21  

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