1999年
関節筋力関数に基づく目標指向制御による自然な人間の歩行動作に関する研究
映像情報メディア学会誌 : The journal of the Institute of Image Information and Television Engineers
- ,
- 巻
- 53
- 号
- 11
- 開始ページ
- 1620
- 終了ページ
- 1627
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.3169/itej.53.1620
- 出版者・発行元
- 一般社団法人映像情報メディア学会
Human walking and posture are determined by joint movement, which is controlled by muscle force. Muscle force working as an internal force is the most important factor determining human movement and posture. In this paper, we describe a system for human walking, which is generated by joint movement based on muscle force. We define a joint muscle force function based on the biomechanical characteristics of muscles (their length and contraction velocity). By using this function, we can control joint movement within the maximum joint force which depends on the joint angular values (velocity, acceleration). we propose a human walking system and a method for controlling the internal and external force based on goal-oriented control, which is based on the periodic characteristic of human walking.
- リンク情報
- ID情報
-
- DOI : 10.3169/itej.53.1620
- ISSN : 1342-6907
- CiNii Articles ID : 110003692495
- identifiers.cinii_nr_id : 9000004783173
- SCOPUS ID : 0040437659