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.
UR - https://www.scopus.com/pages/publications/50449083454
U2 - 10.1109/MHS.2006.320274
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 -