書誌事項
- タイトル別名
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- Design of Bipedal Robot with Reduced Degrees of Freedom
- 2ソク ホコウ ロボット ノ ショウ ジユウド コウセイ
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抄録
Typical human-based biped robot has 12-DOF for its legs, but there may be another approach not to take a model on human, but to design function oriented. To design a practical light-weight biped, reducing a number of DOF is one of the most efficient method. This paper discusses minimum number of DOF for various cases, where 4, 7, 5 is the resultant minimum number of DOF for horizontally composed terrain, uneven terrain with normal leg exchange sequence, uneven terrain with partial leg exchange sequence, respectively. This paper also shows practical designs of bipeds with 5, 8, and 6-DOF. Trial manufactured machines based on these discussions could show good performances on stairs and uneven terrain.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 21 (5), 546-553, 2003
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702070400
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- NII論文ID
- 10011243332
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 6646203
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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
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可