Design of Bipedal Robot with Reduced Degrees of Freedom
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- Yoneda Kan
- Tokyo Institute of Technology
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- Tamaki Tatsuya
- Tokyo Institute of Technology
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- Ota Yusuke
- Tokyo Institute of Technology
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- Kurazume Ryo
- Kyushu University
Bibliographic Information
- Other Title
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- 2足歩行ロボットの省自由度構成
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 21 (5), 546-553, 2003
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679702070400
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- NII Article ID
- 10011243332
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 6646203
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed