Toshiaki Saka — accepted AI-conference papers

2016

3-DOF passive dynamic walking of compass-like biped robot with semicircular feet generated on slippery downhill

Fumihiko Asano, Toshiaki Saka, Yuji Harata

ICRA 2016

The authors demonstrated that a stable passive compass gait can be generated on a slippery downhill, and showed that the 2-DOF constraint conditions for the contact point are not always necessary for it. The generated walking gait while sliding on the slope becomes 3-DOF increased by addition of the

Cited by 9 Source ↗Scholar ↗

2015

Passive dynamic walking of compass-like biped robot on slippery downhill

Fumihiko Asano, Toshiaki Saka, Tetsuro Fujimoto

IROS 2015poster

In this paper, we discuss the possibility and fundamental properties of passive bipedal walking on a slippery downhill. First, we develop a mathematical model of the passive compass-like biped robot that contacts with the ground incorporating sliding friction which is specified as the Coulomb model.…

Cited by 15 Source ↗Scholar ↗