| Presentation | 2012-12-18 Derivation and analysis of a mathematical model for a passive walking robot with back and forth motion Masaya Takemoto, Keiji Konishi, Naoyuki Hara, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Passive walking / Robot / Limit cycle / Hybrid system / Poincare map / Period doubling bifurcation |
| Paper # | NLP2012-97 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2012/12/10(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| 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) | Derivation and analysis of a mathematical model for a passive walking robot with back and forth motion |
| Sub Title (in English) | |
| Keyword(1) | Passive walking |
| Keyword(2) | Robot |
| Keyword(3) | Limit cycle |
| Keyword(4) | Hybrid system |
| Keyword(5) | Poincare map |
| Keyword(6) | Period doubling bifurcation |
| 1st Author's Name | Masaya Takemoto |
| 1st Author's Affiliation | Graduate School of Engineering, Osaka Prefecture University() |
| 2nd Author's Name | Keiji Konishi |
| 2nd Author's Affiliation | Graduate School of Engineering, Osaka Prefecture University |
| 3rd Author's Name | Naoyuki Hara |
| 3rd Author's Affiliation | Graduate School of Engineering, Osaka Prefecture University |
| Date | 2012-12-18 |
| Paper # | NLP2012-97 |
| Volume (vol) | vol.112 |
| Number (no) | 363 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |