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- HARADA Hiroyuki
- Hokkaido University
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- SHIMOHASHI Kazuki
- Nittetsu Hitachi Systems Engineering, Inc.
Bibliographic Information
- Other Title
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- 1A1-G07 スライド脚を持つ三脚ロボットの構造と歩容
Description
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.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (0), _1A1-G07_1-_1A1-G07_4, 2010
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001205935586304
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- NII Article ID
- 110008741254
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed