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Paper Abstract and Keywords
Presentation 2012-12-18 09:20
Derivation and analysis of a mathematical model for a passive walking robot with back and forth motion
Masaya Takemoto, Keiji Konishi, Naoyuki Hara (Osaka Pref. Univ.) NLP2012-97
Abstract (in Japanese) (See Japanese page) 
(in English) Various passive walking robots which walk down a hill with gravity have been studied for over twenty years. They have a limit cycle in the gait motion. In recent years, a robust passive walking robot which moves with back and forth has been proposed. This report derives a mathematical model of such robot, and shows its walking motion on computer simulations. We observe that the stability of the walking motion is investigated on the basis of the Poincare map. The period doubling bifurcation occurs in our model.
Keyword (in Japanese) (See Japanese page) 
(in English) Passive walking / Robot / Limit cycle / Hybrid system / Poincare map / Period doubling bifurcation / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 363, NLP2012-97, pp. 51-56, Dec. 2012.
Paper # NLP2012-97 
Date of Issue 2012-12-10 (NLP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NLP  
Conference Date 2012-12-17 - 2012-12-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Fukui City Communication Plaza 
Topics (in Japanese) (See Japanese page) 
Topics (in English) General 
Paper Information
Registration To NLP 
Conference Code 2012-12-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Derivation and analysis of a mathematical model for a passive walking robot with back and forth motion 
Sub Title (in English)  
Keyword(1) Passive walking  
Keyword(2) Robot  
Keyword(3) Limit cycle  
Keyword(4) Hybrid system  
Keyword(5) Poincare map  
Keyword(6) Period doubling bifurcation  
Keyword(7)  
Keyword(8)  
1st Author's Name Masaya Takemoto  
1st Author's Affiliation Osaka Prefecture University (Osaka Pref. Univ.)
2nd Author's Name Keiji Konishi  
2nd Author's Affiliation Osaka Prefecture University (Osaka Pref. Univ.)
3rd Author's Name Naoyuki Hara  
3rd Author's Affiliation Osaka Prefecture University (Osaka Pref. Univ.)
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Speaker Author-1 
Date Time 2012-12-18 09:20:00 
Presentation Time 25 minutes 
Registration for NLP 
Paper # NLP2012-97 
Volume (vol) vol.112 
Number (no) no.363 
Page pp.51-56 
#Pages
Date of Issue 2012-12-10 (NLP) 


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