An experimental study on motions of a planar rimless wheel

Terumasa Narukawa, Tatsuhiko Ikeda, Masaki Takahashi

研究成果: Conference contribution

1 引用 (Scopus)

抄録

One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.

元の言語English
ホスト出版物のタイトル5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
出版者International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
ページ465-471
ページ数7
1
ISBN(印刷物)9781618390882
出版物ステータスPublished - 2010
イベント5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
継続期間: 2010 8 232010 8 27

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Japan
Kyoto
期間10/8/2310/8/27

Fingerprint

Wheels
Biped locomotion
Cameras
High speed cameras
Computer simulation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Control and Systems Engineering

これを引用

Narukawa, T., Ikeda, T., & Takahashi, M. (2010). An experimental study on motions of a planar rimless wheel. : 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 (巻 1, pp. 465-471). International Federation for the Promotion of Mechanism and Machine Science (IFToMM).

An experimental study on motions of a planar rimless wheel. / Narukawa, Terumasa; Ikeda, Tatsuhiko; Takahashi, Masaki.

5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 1 International Federation for the Promotion of Mechanism and Machine Science (IFToMM), 2010. p. 465-471.

研究成果: Conference contribution

Narukawa, T, Ikeda, T & Takahashi, M 2010, An experimental study on motions of a planar rimless wheel. : 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻. 1, International Federation for the Promotion of Mechanism and Machine Science (IFToMM), pp. 465-471, 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010, Kyoto, Japan, 10/8/23.
Narukawa T, Ikeda T, Takahashi M. An experimental study on motions of a planar rimless wheel. : 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 1. International Federation for the Promotion of Mechanism and Machine Science (IFToMM). 2010. p. 465-471
Narukawa, Terumasa ; Ikeda, Tatsuhiko ; Takahashi, Masaki. / An experimental study on motions of a planar rimless wheel. 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010. 巻 1 International Federation for the Promotion of Mechanism and Machine Science (IFToMM), 2010. pp. 465-471
@inproceedings{6fe6548cc9484cf488bee40a68e74bc7,
title = "An experimental study on motions of a planar rimless wheel",
abstract = "One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.",
author = "Terumasa Narukawa and Tatsuhiko Ikeda and Masaki Takahashi",
year = "2010",
language = "English",
isbn = "9781618390882",
volume = "1",
pages = "465--471",
booktitle = "5th Asian Conference on Multibody Dynamics 2010, ACMD 2010",
publisher = "International Federation for the Promotion of Mechanism and Machine Science (IFToMM)",

}

TY - GEN

T1 - An experimental study on motions of a planar rimless wheel

AU - Narukawa, Terumasa

AU - Ikeda, Tatsuhiko

AU - Takahashi, Masaki

PY - 2010

Y1 - 2010

N2 - One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.

AB - One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.

UR - http://www.scopus.com/inward/record.url?scp=84912071605&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84912071605&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84912071605

SN - 9781618390882

VL - 1

SP - 465

EP - 471

BT - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010

PB - International Federation for the Promotion of Mechanism and Machine Science (IFToMM)

ER -