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 and reproduction |
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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NLP2012-97 |
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) |
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Keyword(1) |
Passive walking |
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Robot |
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Limit cycle |
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Hybrid system |
Keyword(5) |
Poincare map |
Keyword(6) |
Period doubling bifurcation |
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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 |
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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 |
6 |
Date of Issue |
2012-12-10 (NLP) |