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2008 Fiscal Year Final Research Report

Dynamics of Two-Legged Walking--Analysis, Structure and Advanced

Research Project

  • PDF
Project/Area Number 17206046
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKobe University

Principal Investigator

OSUKA Koichi  Kobe University, 大学院工学研究科, 教授 (50191937)

Co-Investigator(Kenkyū-buntansha) HOSODA Ko  大阪大学, 工学研究科, 准教授 (10252610)
TSUCHIYA Kazuo  京都大学, 名誉教授 (70227429)
SUGIMOTO Yasuhiro  神戸大学, 大学院工学研究科, 非常勤講師 (70402972)
AOI Shinya  京都大学, 工学研究科, 助教 (60432366)
Project Period (FY) 2005 – 2008
Keywords受動的動歩行 / ダイナミクス / Implicit Feedback Structure
Research Abstract

本研究では,受動的動歩行を中心に,二足歩行が本質的に持っている力学的歩行原理の解明を試みた.具体的には,受動的動歩行の歩行現象を力学的モデルで表現することで歩行の安定解析を理論的に検討し,さらにシミュレーションにより様々な歩行実験を実施した.それによって,歩行という動作には身体性が本来力学系として有している歩行能力が大変重要であることがわかってきた.最も大きな成果は歩行現象を非線形離散力学系として表現したとき,歩行安定性に重要な役割を果たすポアンカレ写像の中に安定化のフィードバック構造が含まれていることがわかってきた.さらに,成長する歩行ロボットが身体の成長に応じて歩容形態を適応的に変化させる能力も持っていることがわかってきた.以上のことから,身体性の力学が重要であることがみえてきた.

  • Research Products

    (10 results)

All 2007 2006 2005

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (6 results)

  • [Journal Article] A Designing Method of the Passive Dynamic Walking Robot via Analogy with the Phase Locked Loop Circuits2007

    • Author(s)
      M.Iribe,K.Osuka
    • Journal Title

      Bioinspiration and Robotics -Walking and Climbing Robots-,Eds.: M.K.Habib"

      Pages: 79-94

    • Peer Reviewed
  • [Journal Article] Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties2007

    • Author(s)
      M.Iribe,K.Osuka
    • Journal Title

      Journal of Robotics and Mechatronics 19,4

      Pages: 402-408

    • Peer Reviewed
  • [Journal Article] 膝の伸縮と胴体の姿勢制御による2 足歩行と周波数応答解析2007

    • Author(s)
      衣笠,大須賀,三輪
    • Journal Title

      日本ロボット学会誌 25,3

      Pages: 116-123

    • Peer Reviewed
  • [Journal Article] 連続型遅延フィードバック制御に基づく脚ロボットの準受動的歩行安定化制御2005

    • Author(s)
      杉本,大須賀,杉江
    • Journal Title

      日本ロボット学会誌 23,4

      Pages: 53-60

    • Peer Reviewed
  • [Presentation] On Passive Adaptive Mechanism in Passive Dynamic Walking Proceedings of the International Conference on Control2007

    • Author(s)
      K. Osuka
    • Organizer
      Automation and Systems 2007
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      20071017-20
  • [Presentation] Adaptive Function Embedded in Passive Dynamic Walking2007

    • Author(s)
      K.Osuka,M.Iribe, Y.Sugimoto
    • Organizer
      Proceedings of the International WORKSHOP on MOBILIGENCE
    • Place of Presentation
      University of Padua, Italy
    • Year and Date
      20070403-05
  • [Presentation] On Passive Adaptive Mechanism in Passive Dynamic Walking2007

    • Author(s)
      K.Osuka,M.Iribe,Y.Sugimoto
    • Organizer
      Proceedings of the International Conference on Morphological Computation
    • Place of Presentation
      Venice, Italy
    • Year and Date
      20070326-28
  • [Presentation] A designing method of the passive dynamic walking robot via analogy with the Phase Locked Loop circuits2006

    • Author(s)
      M.Iribe,K. Osuka
    • Organizer
      Proceedings of the 2006 IEEE International Conference on Robotics andBiomimetics (ROBIO2006)
    • Place of Presentation
      Kunming, China
    • Year and Date
      20061217-20
  • [Presentation] Analysis and stabilization of the passive walking robot via analogy with the Phase Locked Loop circuits Proceedings of the IEEE-RAS/RSJ2006

    • Author(s)
      M.Iribe, K.Osuka
    • Organizer
      International Conference on Humanoid Robots (Humanoids 2006)
    • Place of Presentation
      Genova, Italy
    • Year and Date
      20061204-06
  • [Presentation] Analogy between Passive walking robot and Phase Locked Loop circuit2006

    • Author(s)
      M.Iribe,K.Osuka
    • Organizer
      Proceedings of the SICE-ICASE International Joint Conference 2006 (SICE-ICCAS 2006)
    • Place of Presentation
      Busan, Korea
    • Year and Date
      20061018-21

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Published: 2010-06-10   Modified: 2016-04-21  

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