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
Activate
Limit Cycle
Inhibit
BODY
Limit Cycle
Activity of CPG and Body has stability of limit cycle.
(Ohgane,Ei,Mahara,2009)
CPG: BVP Equation(limit cycle )
BODY:Newton-Euler Equation
The simulation results of walking model
Ohgane,Ei,Mahara,2009
the period
CPG
BODY
when
, the phase of CPG shifted
ahead of body;
besides, this phase shift increases in proportion to the increase of
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
system
Van der Pol oscillator
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