Reduced Degrees of Freedom Configuration of Six-legged Robot

DOI Web Site 1 Citations 1 References Open Access

Bibliographic Information

Other Title
  • 6足歩行ロボットの省自由度構成
  • 6ソク ホコウ ロボット ノ ショウ ジユウド コウセイ

Search this article

Description

This paper discusses a configuration of six legged robot, considering a relationship between number of actuators and number of locomotion functions. Mechanical configurations are classified by number of body, relative moving DOF of bodies, moving DOF of legs against the body. As for the function, DOF counting method by five independent functions is proposed. The functions are locomotion, terrain adaptability, relative horizontal positioning of swing legs, mobility of body independent to the leg position, horizontal inner force distribution of supporting legs. Introducing nine various style practical examples, the equality of mechanical actuation DOF and functional DOF count is verified.

Journal

Citations (1)*help

See more

References(1)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top