Stabilization of passive walking based on a stability mechanism of fixed point

Yoshito Ikemata; Akihito Sano; Hideo Fujimoto

doi:10.1109/MHS.2006.320274

Stabilization of passive walking based on a stability mechanism of fixed point

Yoshito Ikemata
, Akihito Sano
, Hideo Fujimoto

Nagoya Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment.

Original language	English
Title of host publication	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
DOIs	https://doi.org/10.1109/MHS.2006.320274
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS - Nagoya, Japan Duration: 5 Nov 2006 → 8 Nov 2006

Publication series

Name	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

Conference

Conference	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
Country/Territory	Japan
City	Nagoya
Period	5/11/06 → 8/11/06

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10.1109/MHS.2006.320274

Cite this

@inproceedings{a1e1b747934045a8b91b5a9c985509a1,

title = "Stabilization of passive walking based on a stability mechanism of fixed point",

abstract = "Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment.",

author = "Yoshito Ikemata and Akihito Sano and Hideo Fujimoto",

year = "2006",

doi = "10.1109/MHS.2006.320274",

language = "英語",

isbn = "1424407176",

series = "2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS",

booktitle = "2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS",

note = "2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS ; Conference date: 05-11-2006 Through 08-11-2006",

}

Ikemata, Y, Sano, A & Fujimoto, H 2006, Stabilization of passive walking based on a stability mechanism of fixed point. in 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS., 4110369, 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS, 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS, Nagoya, Japan, 5/11/06. https://doi.org/10.1109/MHS.2006.320274

Stabilization of passive walking based on a stability mechanism of fixed point. / Ikemata, Yoshito; Sano, Akihito; Fujimoto, Hideo.
2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS. 2006. 4110369 (2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Stabilization of passive walking based on a stability mechanism of fixed point

AU - Ikemata, Yoshito

AU - Sano, Akihito

AU - Fujimoto, Hideo

PY - 2006

Y1 - 2006

N2 - Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment.

AB - Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment.

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DO - 10.1109/MHS.2006.320274

M3 - 会議への寄与

AN - SCOPUS:50449083454

SN - 1424407176

SN - 9781424407170

T3 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

BT - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

T2 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

Y2 - 5 November 2006 through 8 November 2006

ER -

Stabilization of passive walking based on a stability mechanism of fixed point

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