| Presentation | 2007-01-17 Dynamical analysis of Passive Dynamic Walking Noriaki TOYODA, Jousuke KUROIWA, Hisakazu OGURA, Tomohiro ODAKA, Isamu TAKANASHI, Haruhiko SHIRAI, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The purpose of the paper is to investigate all the possible walking patterns in 2-link passive dynamical walking. In this system, the slope angle and the ratio of the hip's mass and the leg's mass are important system parameters. In the conventional study, it is assumed that the mass of the hip is much larger than the center of mass of the leg. This assumption gives a big merit that the initial condition space shrinks to two dimension from four. Based on the assumption, starting from a certain initial condition, the walking pattern certainly converges to unique attractor depending on the system parameters, the slope angle and the leg length. In the paper, we analyze all the possible walking patterns numerically without the assumption. The results show that there coexist different two attractors of walking pattern simultaneously. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | passive dynamic walking / walking pattern / attractor coexistance |
| Paper # | NLP2006-117 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2007/1/10(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Dynamical analysis of Passive Dynamic Walking |
| Sub Title (in English) | |
| Keyword(1) | passive dynamic walking |
| Keyword(2) | walking pattern |
| Keyword(3) | attractor coexistance |
| 1st Author's Name | Noriaki TOYODA |
| 1st Author's Affiliation | Department of Human & Artificial Intelligent Systems, Graduate Course of Engineering, Graduate School, University of Fukui() |
| 2nd Author's Name | Jousuke KUROIWA |
| 2nd Author's Affiliation | Department of Human & Artificial Intelligent Systems, Graduate Course of Engineering, Graduate School, University of Fukui |
| 3rd Author's Name | Hisakazu OGURA |
| 3rd Author's Affiliation | Department of Human & Artificial Intelligent Systems, Graduate Course of Engineering, Graduate School, University of Fukui |
| 4th Author's Name | Tomohiro ODAKA |
| 4th Author's Affiliation | Graduate Program of Nuclear Power and Energy Safety Engineering,University of Fukui |
| 5th Author's Name | Isamu TAKANASHI |
| 5th Author's Affiliation | Department of Human & Artificial Intelligent Systems, Graduate Course of Engineering, Graduate School, University of Fukui |
| 6th Author's Name | Haruhiko SHIRAI |
| 6th Author's Affiliation | Department of Engineering, Department of Technology, University of Fukui |
| Date | 2007-01-17 |
| Paper # | NLP2006-117 |
| Volume (vol) | vol.106 |
| Number (no) | 451 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |