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Paper Abstract and Keywords
Presentation 2019-09-24 10:15
On a Numerical Model of Synchronization Phenomenon observed in Passive Walking Robots on a Movable Base
Naoya Suruga, Tadashi Tsubone (Nagaoka Univ. of Tech.) NLP2019-52
Abstract (in Japanese) (See Japanese page) 
(in English) In this study, we investigate the synchronization phenomenon observed in the passive walking robot on the moving base in order to consider the autonomous synchronization phenomenon of the gait.The approach that regards passive walking robot as oscillator has been used for a long time,and the phenomenon confirmed in this study is indicated as the synchronization presented by an oscillator model.In this report, we derived a mathematical model that simulates the behavior of a simple passive walking robot on a moving base.As a result, we report that the bifurcation phenomenon appears and the synchronization occurs between gait and oscillation of the base.
Keyword (in Japanese) (See Japanese page) 
(in English) Passive walking / Synchronization / Oscillator / Nonlinear dynamics / / / /  
Reference Info. IEICE Tech. Rep., vol. 119, no. 209, NLP2019-52, pp. 87-92, Sept. 2019.
Paper # NLP2019-52 
Date of Issue 2019-09-16 (NLP) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
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 2019-09-23 - 2019-09-24 
Place (in Japanese) (See Japanese page) 
Place (in English) Eikokuji Campus, University of Kochi 
Topics (in Japanese) (See Japanese page) 
Topics (in English) etc. 
Paper Information
Registration To NLP 
Conference Code 2019-09-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) On a Numerical Model of Synchronization Phenomenon observed in Passive Walking Robots on a Movable Base 
Sub Title (in English)  
Keyword(1) Passive walking  
Keyword(2) Synchronization  
Keyword(3) Oscillator  
Keyword(4) Nonlinear dynamics  
1st Author's Name Naoya Suruga  
1st Author's Affiliation Nagaoka University of Technology (Nagaoka Univ. of Tech.)
2nd Author's Name Tadashi Tsubone  
2nd Author's Affiliation Nagaoka University of Technology (Nagaoka Univ. of Tech.)
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Date Time 2019-09-24 10:15:00 
Presentation Time 25 
Registration for NLP 
Paper # IEICE-NLP2019-52 
Volume (vol) IEICE-119 
Number (no) no.209 
Page pp.87-92 
#Pages IEICE-6 
Date of Issue IEICE-NLP-2019-09-16 

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