書誌事項
- タイトル別名
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- 2A1-F10 Stabilizing Mechanical Sway of a Walking Robot Using a Torque Cancelling System(Dynamics & Design of Robot System)
説明
A torque cancelling system (TCS) which considers not only the motion torque for objects but also the dynamics of a robotic architecture itself, is developed and equipped on a walking robot. The required torque for the system is computed by the parallel solution scheme which is developed based upon the finite element method. The scheme can compute the dynamics of complex mechanisms constituted with closed-loop mechanism and/or flexible links, and can also compute the moments generated at whichever locations in the mechanism. Experiments on the walking robot with a TCS showed a clear effect on stabilizing the mechanical sway in the walking motion.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2012 (0), _2A1-F10_1-_2A1-F10_3, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680914948352
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- NII論文ID
- 110009908589
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可