因果関係を理解するためのデータ駆動手法とモデル駆動アプローチ

1. OSAKA UNIV.
MechanicalDynamics Lab.

2. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
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•
•

5. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.

6. OSAKA UNIV.
MechanicalDynamics Lab.

7. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV. 6
0 0.05 0.1 0.15 0.2 0.25 0.3
time(second)
60
70
80
90
100
110
120
130
Angle[°]
0
5
10
15
20
25
Time variation of Angle of leading leg on Data1
0 0.05 0.1 0.15 0.2 0.25 0.3
time(second)
80
85
90
95
100
105
110
115
120
Angle[°]
-20
-15
-10
-5
0
5
10
15
20
25
Time variation of Angle of trailing leg on Data1

8. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV. 7
0 0.05 0.1 0.15 0.2 0.25 0.3
time(second)
60
70
80
90
100
110
120
130
Angle[°]
0
5
10
15
20
25
Time variation of Angle of leading leg on Data1
0 0.05 0.1 0.15 0.2 0.25 0.3
time(second)
80
85
90
95
100
105
110
115
120
Angle[°]
-20
-15
-10
-5
0
5
10
15
20
25
Time variation of Angle of trailing leg on Data1

9. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
Upper body angular momentum(Nms)
Lowerbodyangularmomentum(Nms)
Nms
Nms
0 0.5 1 1.5 2 2.5 3 3.5 4
0
5
10
15
20
25
TIme[sec]
Kineticenergy[J]

10. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
Upper body angular momentum(Nms)
Lowerbodyangularmomentum(Nms)
Nms
Nms
0 0.5 1 1.5 2 2.5 3 3.5 4
0
5
10
15
20
25
TIme[sec]
Kineticenergy[J]

11. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
10

12. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
11

13. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.

14. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.

15. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
•

16. OSAKA UNIV.
MechanicalDynamics Lab.

17. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
•
16

18. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
17

19. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.

20. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.
•
•
•

21. OSAKA UNIV.
MechanicalDynamics Lab.OSAKA UNIV.