2A2-T01 Development of Control System for the Tripod walking robot Martian II(Walking Robot (2))
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- KATO Takaaki
- Osaka University
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- ISHIKAWA Masato
- Osaka University
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- OSUKA Koichi
- Osaka University
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- SANKAI Yoshiyuki
- Tsukuba University
Bibliographic Information
- Other Title
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- 2A2-T01 三脚歩行ロボットMartian IIの操縦システムの開発(脚移動ロボット(2))
Description
In this paper, we develop a control system for a tripedal walking robot 'Martian II' which was developed in the authors' previous work, equipped with spherical feet a,nd mechanical suspensions. With the aid of refined walking stability of Martian II, we succeeded in realizing its human-machine control interface using manual control pad and wireless communication. We also analyze its gait-pattern using optical motion capture system and give an insight from a viewpoint of symmetry in three-node networked oscillators.
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) 2012 (0), _2A2-T01_1-_2A2-T01_2, 2012
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001205938242176
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- NII Article ID
- 110009909259
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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
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- Abstract License Flag
- Disallowed