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人間の二足歩行モデルにおけるシミュレーション

人間の二足歩行モデルにおけるシミュレーション. 翁　武淋 数理学府 研究成果報告会 ２０１３．７．２９. Conceptual diagram of walking model. CPG. Limit Cycle. Activate. Inhibit. Limit Cycle. BODY. Activity of CPG and Body has stability of limit cycle. (Ohgane,Ei,Mahara,2009). CPG. BODY. BVP Equation ( limit cycle ). CPG ：.

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人間の二足歩行モデルにおけるシミュレーション

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  1. 人間の二足歩行モデルにおけるシミュレーション人間の二足歩行モデルにおけるシミュレーション 翁　武淋 数理学府 研究成果報告会 ２０１３．７．２９

  2. Conceptual diagram of walking model CPG Limit Cycle Activate Inhibit Limit Cycle BODY Activity of CPG and Body has stability of limit cycle. (Ohgane,Ei,Mahara,2009)

  3. CPG BODY

  4. BVPEquation(limit cycle ) CPG： BODY： Newton-Euler Equation

  5. The simulation results of walking model Ohgane,Ei,Mahara,2009 the period when , the phase of CPG shifted ahead of body; besides, this phase shift increases in proportion to the increase of

  6. Problem • The mechanism for causing a very stable walking is limit cycle of CPG activity.The study direct toward its confirmation by replacing description of the CPG with other limit cycle oscillators. system Van der Pol

  7. system

  8. Van der Pol oscillator

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