Motion analysis and application of Passive Dynamic Walking

• Project/Area Number: 18760167
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Dynamics/Control
• Research Institution: Kobe University (2008); Kyoto University (2006-2007)
• Principal Investigator: SUGIMOTO Yasuhiro Kobe University, 工学研究科, 非常勤講師 (70402972)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥3,240,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥240,000); Fiscal Year 2008: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2007: ¥1,100,000 (Direct Cost: ¥1,100,000); Fiscal Year 2006: ¥1,100,000 (Direct Cost: ¥1,100,000)
• Keywords: 受動的歩行 / 安定解析 / ロボット工学 / 歩行ロボット

Research Abstract

受動的歩行の本質や動作原理を探り,受動的歩行という現象を力学的観点から理解することを目指し,本研究では特に,受動的歩行に見られる興味深い現象の一つである歩行周期の分岐現象に特に着目して解析を行ない,二周期歩行においても,一歩行周期と同様な安定化構造があることを示した.
また二脚だけではなく四脚以上の受動的歩行ロボットが実現可能やそれが非常に興味深い現象を示すこと明らかにした.

Research Products

• [Journal Article] Demonstration and Analysis of Quadrupedal Passive Dynamic Walking (2009)
  • Author(s): Kazuhiko Nakatani, Yasuhiro Sugimoto, Koichi Osuka
  • Journal Title: Advanced Robotics Vol.23 No5 Pages: 483-501
  • NAID: 10027462817
  • Peer Reviewed
• [Journal Article] Hierarchical Implicit Feedback Structure in Passive Dynamic Walking (2008)
  • Author(s): Yasuhiro Sugimoto and Koichi Osuka
  • Journal Title: Journal of Robotics and Mechatronics Vol 20 No4 Pages: 559-566
  • Peer Reviewed
• [Journal Article] Hierarchical Implicit Feedback Structure in Passive Dynamic Walking (2008)
  • Author(s): Yasuhiro Sugimoto, Koichi Osuka
  • Journal Title: Journal of Robotics and Mechatronics 20 Pages: 559-566
  • Peer Reviewed
• [Journal Article] On Passive Adaptive Mechanism in Passive Dynamic Walking (2007)
  • Author(s): Koichi Osuka, Masastugu Iribe, Yasuhiro Sugimoto
  • Journal Title: Proc.of International conference on Morphological Computation
• [Journal Article] むだ時間系の安定解析再訪-受動歩行の遅延フィードバック制御まで (2006)
  • Author(s): 平田健太郎, 大須賀公一, 杉本靖博
  • Journal Title: 計測と制御 Vol 45 No 4 Pages: 376-380
  • Peer Reviewed
• [Journal Article] Implicit Feedback Structure in Passive Dynamic Walking (2006)
  • Author(s): Yasuhiro Sugimoto, Koichi Osuka
  • Journal Title: Proc.of Dynamic Walking 2006
• [Journal Article] むだ時間系の安定解析再訪-受動歩行の遅延フィードバック制御まで-(2) (2006)
  • Author(s): 平田健太郎, 大須賀公一, 杉本靖博
  • Journal Title: 計測と制御 Vol.45,No.4
  • NAID: 10018113597
• [Journal Article] Demonstration and Analysis of Quadrupedal Passive Dynamic Walking
  • Author(s): Kazuhiko Nakatani, Yasuhiro Sugimoto, Koichi Osuka
  • Journal Title: Advanced Robotics (in press)
  • NAID: 10027462817
  • Peer Reviewed
• [Presentation] Motion Analysis of Quadrupedal Passive Dynaiic Walking (2009)
  • Author(s): Yasuhiro Sugimoto, Kazuhiro Nakatani, Koigh Osuka
  • Organizer: Dynamic Walking 2009
  • Place of Presentation: Vancouver, Canada
  • Year and Date: 2009-06-10
• [Presentation] 超多脚型受動的動歩行ロボットの実現に関する研究 (2009)
  • Author(s): 吉岡秀隆, 杉本靖博, 大須賀公一
  • Organizer: ロボティクスメカトロニクス講演会2009(Robomec 2009)
  • Place of Presentation: 福岡国際会議場
  • Year and Date: 2009-05-26
• [Presentation] Motion Analysis of Quadrupedal Passive Dynamic Walking (2009)
  • Author(s): Yasuhiro Sugimoto, Kazuhiro Nakatani, Koichi Osuka
  • Organizer: Dynamic Walking 2009
  • Place of Presentation: Vancouver Canada
• [Presentation] 超多脚型受動的歩行ロボットの実現に関する研究 (2009)
  • Author(s): 吉岡秀隆,杉本靖博,大須賀 公一
  • Organizer: ロボディクスメカトロニクス講演会
  • Place of Presentation: 福岡
• [Presentation] 四脚受動的動歩行の存在証明と歩容解析 (2008)
  • Author(s): 中谷和弘, 大須賀公一, 杉本靖博, 赤澤智昭
  • Organizer: 第13回ロボティクスシンポジア
  • Place of Presentation: 香川
  • Year and Date: 2008-03-17
• [Presentation] 筋の力-速度関係が周期運動の安定化に果たす役割に関する一考察 (2008)
  • Author(s): 杉本靖博, 青井伸也, 荻原直道, 土屋和雄
  • Organizer: 第20回 自律分散システム・シンポジウム
  • Place of Presentation: 諏訪,日本
  • Year and Date: 2008-01-25
• [Presentation] 四脚受動的歩行の存在証明と歩容解析 (2008)
  • Author(s): 中谷和弘, 大須賀公一, 杉本靖博, 赤澤智昭
  • Organizer: 第13回ロボディクスシンポジア
  • Place of Presentation: 香川
• [Presentation] Hierarchical Implicit Feedback Structure in Passive Dynamic Walking (2007)
  • Author(s): Y. Sugimoto, K. Osuka
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Diego, CA, USA
  • Year and Date: 2007-10-31
• [Presentation] Hierarchical Implicit Feedback Structure in Passive Dynamic Walking (2007)
  • Author(s): Yasuhiro Sugimoto, Koichi Osuka
  • Organizer: Proc of 2007 IEEE/RSJ International Conference on Intelligent Robots and System(IROS2007)
  • Place of Presentation: San Diego USA
  • Year and Date: 2007-10-29
• [Presentation] The Stabilizing Function of Musculoskeltal System for Periodic Motion (2007)
  • Author(s): Y. Sugimoto, S. Aoi, N. Ogihara, K. Tsuchiya
  • Organizer: 2nd International Symposium on Mobiligence
  • Place of Presentation: awaji, JAPAN
  • Year and Date: 2007-07-20
• [Presentation] On Multi-legged Passive Dynamic Walking (2007)
  • Author(s): K. Osuka, Y. Sugimoto. T. Akazawaand K. Nakatani
  • Organizer: 2nd International Symposium on Mobiligence
  • Place of Presentation: awaji, JAPAN
  • Year and Date: 2007-07-20
• [Presentation] On Passive Adaptive Mechanism in Passive Dynamic Walking (2007)
  • Author(s): Koichi Osuka, Masatsugu Iribe, Yasuhiro Sugimoto
  • Organizer: Proc of International conference on Morphological Computation
  • Place of Presentation: Venice Italy
  • Year and Date: 2007-03-19
• [Presentation] On Multi-legged Passive Dynamic Walking (2007)
  • Author(s): Kochi Osuka, suhiro Sgimoto, Tomohiro Akazawa, and Kazuhiko Nakatani
  • Organizer: Proc of 2nd International Symposium on Mobiligence
  • Place of Presentation: Awaji Japan
• [Presentation] Implici Feedback tructre in Passive Dynamic Walking (2006)
  • Author(s): Yauhiro Sugimoto, Koichi Osuka
  • Organizer: Dynamic Walking 2006 Workshop
  • Place of Presentation: Ann Arbor University USA