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二脚モデルの歩行に及ぼす関節ばねの影響
http://hdl.handle.net/10069/24494
http://hdl.handle.net/10069/24494213acfe1-ed8e-404b-bef6-9d126f8b949f
名前 / ファイル | ライセンス | アクション |
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kogaku00_19_01.pdf (269.3 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2010-11-29 | |||||
タイトル | ||||||
タイトル | 二脚モデルの歩行に及ぼす関節ばねの影響 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
著者 |
眞武, 友一
× 眞武, 友一× 御手洗, 忠× 今井, 康文 |
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著者別名 | ||||||
姓名 | Matake, Tomokazu | |||||
著者別名 | ||||||
姓名 | Mitarai, Tadashi | |||||
著者別名 | ||||||
姓名 | Imai, Yasufumi | |||||
その他のタイトル | ||||||
その他のタイトル | Influence of Joint Springs on the Locomotion of a Bipedal Model | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Influence of the joint springs and the initial conditions on the locomotion of the bipedal model has been investigated. The bipedal model, as proposed before, has eight rigid links representing upper and lower legs, feet, the waist, and the upper body, which are jointed each other by pins together with tensional springs. As reported previously, in the monopedal period, a limited range of spring constants are available for the model to move continuously alike human walking. However, it has been found that these same values of spring constants are not appropriate for the bipedal period. Continuous movement from monopedal to bipedal period is only possible by employing the different spring constants for different period. Successful combination of spring constants and initial angular velocities of all links for a complete one-step movement is obtained after the trial and error method. Under this condition, the step force of the model varies showing two peaks as in the case of human walking although the second peak, which may be related to the acceleration to the next step, remains quite low. | |||||
書誌情報 |
長崎大学工学部研究報告 en : Reports of the Faculty of Engineering, Nagasaki University 号 19, p. 1-6, 発行日 1982-08 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02860902 | |||||
EISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 18805574 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00178418 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
出版者 | ||||||
出版者 | 長崎大学工学部 | |||||
出版者別言語 | ||||||
Faculty of Engineering, Nagasaki University | ||||||
引用 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 長崎大学工学部研究報告, (19), pp.1-6; 1982 |