@article{oai:nagasaki-u.repo.nii.ac.jp:00014506,
 author = {眞武, 友一 and 御手洗, 忠 and 今井, 康文},
 issue = {19},
 journal = {長崎大学工学部研究報告, Reports of the Faculty of Engineering, Nagasaki University},
 month = {Aug},
 note = {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., 長崎大学工学部研究報告, (19), pp.1-6; 1982},
 pages = {1--6},
 title = {二脚モデルの歩行に及ぼす関節ばねの影響},
 year = {1982}
}