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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Presentation transcript:

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： BODY： Newton-Euler Equation

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

Problem system Van der Pol 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

system

Van der Pol oscillator