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- 米田 完
- 千葉工業大学
書誌事項
- タイトル別名
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- Reduced Degrees of Freedom Configuration of Six-legged Robot
- 6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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説明
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.
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 33 (2), 124-132, 2015
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
- 1390282679705626752
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- NII論文ID
- 130005065130
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 026252254
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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サーチ
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- CiNii Articles
- OpenAIRE
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