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腰幅をもつ2脚モデルの歩行


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Title: 腰幅をもつ2脚モデルの歩行
Other Titles: Walking of a Bipedal Model Having a Waist Width
Authors: 眞武, 友一 / 今井, 康文 / 御手洗, 忠
Authors (alternative): Matake, Tomokazu / Imai, Yasufumi / Mitarai, Tadashi
Issue Date: Jul-1980
Publisher: 長崎大学工学部 / Faculty of Engineering, Nagasaki University
Citation: 長崎大学工学部研究報告, (15), pp.1-8; 1980
Abstract: A new bipedal walking model has been proposed and the walking motion of the model has been analyzed. The model has a waist width and hence provides more realistic information of the human gait than the old model does. The model consists of two masses located at a waist region and rigid links corresponding to the thighs, low legs, and feet, jointed by pins together with torsional springs. Difference from the old model is the following : Two hip joints are separated for a waist width and are connected to the femoral region of each leg with torsional springs. The old model has no waist width and hence that walking motion is restricted on one vertical plane. On this new model, however, the walking motion is allowed in two vertical planes. Therefore, the waist swings sinusoidally in a holizontal plane during walking. In almost investigations of a human walking, it seems that attention is focused on the method of optimum control of the driving force or torque in order to attain a normal gait. In this investigation, on the other hand, driving force is only a waist swing which is not controlled. Only thing to do is to choose the appropriate spring constants so that the normal walking is possible.
URI: http://hdl.handle.net/10069/23976
ISSN: 02860902
Type: Departmental Bulletin Paper
Text Version: publisher
Appears in Collections:No.15

Citable URI : http://hdl.handle.net/10069/23976

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