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Autonomous Walking of the Hydraulic Quadruped Robot by the Hydraulic Power Pack and GNSS
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- KIGUCHI Kosuke
- Tokyo Institute of Technology
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- TANI Kosuke
- Tokyo Institute of Technology
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- NABAE Hiroyuki
- Tokyo Institute of Technology
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- YAMAMOTO Akina
- Tokyo Institute of Technology
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- HIROTA Yoshiharu
- Tokyo Institute of Technology
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- IDE Tohru
- Tokyo Institute of Technology
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- ENDO Gen
- Tokyo Institute of Technology
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- SUZUMORI Koichi
- Tokyo Institute of Technology
Bibliographic Information
- Other Title
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- 油圧パワーパックとGNSSを用いた油圧4脚ロボットの自律歩行
Description
<p>We developed the hydraulic quadruped robot, “Tough Runner”, for the purpose of opening up the possibilities of hydraulic quadruped robots. In this paper, we demonstrated that this robot is able to accomplish simple missions, specifically reaching a target from an arbitrary position by being combined with the Global Navigation Satellite System (GNSS) and INS. The hydraulic drive system has some advantages such as high F/M ratio, and high back drivability. This robot is composed of hydraulic cylinders and a hydraulic power pack. Both of them are developed by our laboratory, and also installed with a GNSS receiver and an antenna in order for self-localization. That makes it possible to carry out missions autonomously.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (0), 2P2-F06-, 2021
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390853487385456128
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- NII Article ID
- 130008135626
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- ISSN
- 24243124
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- Text Lang
- ja
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- Article Type
- conference paper
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- Data Source
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- JaLC
- IRDB
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed