1A1-P15 単腕マスドライバを用いた搖動三脚歩行ロボットの開発(脚移動ロボット(1))

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  • 1A1-P15 Development of the Rocking tripod walking robot with single mass-driving system(Walking Robot (1))

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In this paper, as the basic experiment for development of the rocking tripedal robot with single mass-driving system, we focus on the relation between amplitude and periodic time of input for the excitation of rocking motion. We analyze this relation using a simple model based on a tripedal walking robot 'Martian II' which was developed in the authors' previous work and get the key to adjust these parameters.

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