2016 Fiscal Year Final Research Report
Development of adaptive and dynamic 3-D bipedal walking using oscillation property of body
| Project/Area Number |
26420215
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama University of Science |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
IRIBE Masatsugu 大阪電気通信大学, 工学部, 教授 (60469228)
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| Research Collaborator |
FUJIMOTO Shinsaku 岡山理科大学, 工学部, 教授
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Keywords | 受動歩行 / ３次元２足動歩行 |
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| Outline of Final Research Achievements |
The aim of this study is to develop a three-dimensional dynamic biped walking using frequency characteristics of the biped body. Knee joints generates a sinusoidal oscillation, which excites bipedal walking gait. The oscillation is a kind of central pattern generator without any sensory feedback signals. An input torque from the hip joints are given with respect to the sensory feedback obtained by the ground contact. The sensory feedback of the ground contact synchronizes the hip torque with the knee oscillation. An ankle joint comprised a spherical joint and coil springs; thus the ankle was passive. Therefore, the bipedal gait was achieved by not only the knee oscillation and the hip torque, but also the frequency property of the biped body.
From some experimental tests, the bipedal gait had a adaptive tendency toward a slight undulation of the ground surface. The biped could turn when we control the magnitude of the hip torque for the left and right hip joints.
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| Free Research Field |
ロボティクス
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