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- SUGIUCHI Hajime
- Yokohama National University
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- KOHAMA Satoshi
- DENSO Corporation
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- Jumonji Takuya
- The University of Tokyo
Bibliographic Information
- Other Title
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- 小型人型壁登りロボットの安定性向上
Abstract
<p>Small humanoid robots are expected to advance into society in the field of nursing care and welfare. Among them, the home robots need to move freely even in space with obstacles. Based on these facts, we have the goal to let climb between walls on a small humanoid robot. By the previous work, we made a small humanoid robot and the robot succeeded in climbing between walls. I improve the stability of this developed action using theory of grip. Using this theory, I calculate the required joint torques and the optimal position to support the robot. Then I compare the results obtained with the current results. In addition, I verify the maximum raising distance per cycle.</p>
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) 2018 (0), 1P2-J01-, 2018
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001288103527424
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- NII Article ID
- 130007551359
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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