-
- KAIHARA Hikaru
- Yokohama National University
-
- SUGIUCHI Hajime
- Yokohama National University
-
- UCHIDA Taichi
- Yokohama National University
Bibliographic Information
- Other Title
-
- スケート運動によって移動する小型二足ロボットの蹴り動作の改善
Abstract
<p>In this study, we devised a new kicking motion to make the robot's skating movement more stable. In the conventional method, we used ramp trajectory as pitch joint reference. This trajectory brought instability and sometimes caused a failure of skating. In order to improve this problem, we developed “equi-energy trajectory”. By using this trajectory, the total mechanical energy of the robot during skating was constant. The effectiveness of this trajectory was shown in the experiment.</p>
Journal
-
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (0), 2A2-L02-, 2020
The Japan Society of Mechanical Engineers
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390004951545202816
-
- NII Article ID
- 130007944153
-
- ISSN
- 24243124
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed