書誌事項
- タイトル別名
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- 1A1-G07 Mechanism and Gait of Tripedal Walking Robot with Sliding Legs
抄録
Novel design of three-legged walking robot with sliding legs and its ideal gait are proposed. The robot has 7 degrees of freedom: 4 active joints and 3 passive joints. Its mechanism is considered for to develop a high-efficiency tripedal gait with passive movement which utilizes the gravity. Computer simulation with ODE (Open Dynamics Engine) is performed to determine the structure of the robot and to investigate its ideal gait. Several parameters are optimized through the simulation based on the criterion for a stable gait. The result shows that the stable tripedal gait is able to be achieved with the proposed mechanism of the robot. An experimental machine is also introduced.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _1A1-G07_1-_1A1-G07_4, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205935586304
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- NII論文ID
- 110008741254
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可