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- 宇野 健太朗
- 東北大学大学院工学研究科航空宇宙工学専攻
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- Warley F. R. Ribeiro
- 東北大学大学院工学研究科航空宇宙工学専攻
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- 小泉 裕介
- 東北大学大学院工学研究科航空宇宙工学専攻
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- 永岡 健司
- 九州工業大学大学院工学研究院機械知能工学研究系
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- 吉田 和哉
- 東北大学大学院工学研究科航空宇宙工学専攻
書誌事項
- タイトル別名
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- Tumble Stability Criterion Using Gravito-Inertial Acceleration for Wall-Climbing Motion of Legged Robots
抄録
<p>To address the stability of wall climbing motions in legged robots, the Tumble Stability criterion offers several advantages in addition to its computational simplicity: 1) it can be applied in scenarios where the robot's centroid projection is not defined (e.g., wall climbing), and 2) it easily incorporates the ground gripping capability in the calculation of stability margin. In this study, the conventional Tumble Stability judgment theory is reorganized in the acceleration domain to derive a “GIA Stable Space,” representing a stable region for the robot's gravito-inertial acceleration (GIA) and visualized as a polyhedron. A quantitative metric, named GIA Margin, is defined as the geometric distance between the robot's GIA vector and the polyhedron's side. The GIA Margin serves as an extension of the conventional support polygon and centroid projection, providing a measure to evaluate the level of stability. As a representative application of this approach, stable motion planning based on GIA Margin for a wall-climbing legged robot is presented. </p>
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 42 (3), 295-298, 2024
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
- 1390862853908502144
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- ISSN
- 18847145
- 02891824
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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
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- 抄録ライセンスフラグ
- 使用不可