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- W2728551471 abstract "When we pedal a bicycle, it will be demanded that the passive leg which is inverse to the active pedaling leg is able to adapt to the outside dynamic surroundings generated by pedal. In this research, we focused on the adaptive motion control for pedaling by the musculoskeletal humanoid Kenshiro applied the flexible elastic characteristic of tendon-drive ankle and made the humanoid detect the external force generated by dynamic pedal motion and feedback the value of the force to update the position of ankle. Futhermore, we defined the flexible elastic characteristic as the compliance of muscle and introduced it to the humanoid ankle. As the result of the adaptive motion control and the contribution of the compliance of ankle muscle, we achieved to adjust the humanoid leg to the outside surroundings of cycling pedal." @default.
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- W2728551471 date "2014-01-01" @default.
- W2728551471 modified "2023-10-01" @default.
- W2728551471 title "3P1-F05 Achievement of Adaptive Motion for Pedaling by Humanoid Applied The Flexible Elastic Characteristic of Tendon-Driven Ankle(Humanoid (2))" @default.
- W2728551471 doi "https://doi.org/10.1299/jsmermd.2014._3p1-f05_1" @default.
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