猫ひねり動作の解明とロボットによる猫ひねりの実現

• 山藤 和男

  電気通信大学

• 小林 剛

  電気通信大学大学院

• 河村 隆

  電気通信大学大学院

書誌事項

タイトル別名

• Elucidation of Twisting Motion of a Falling Cat and its Realization by a Robot.

抄録

Postural control of a falling cat was investigated analytically and experimentally. The authors intended to develop such a robot as a cat that could restore her attitude at free fall by twisting and controlling the body. There are still contradictory and ambiguous explanations among the text books of physics or dynamics which deal twisting motion of a cat. Firstly, the principle of the twisting motion of a robot cat was analysed using a jointed double column model. And it was made clear analytically that a cat could restore her attitude by bending and twisting the body in the air. Then, the authors developed the robot cat which had vertebrate-type backbones and twisting mechanisms. It was confirmed experimentally that the robot cat could control its attitude by 180 degrees' rotation within 0.6 second when it was released upside-down at about 1.8m height in the air.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 10 (5), 648-654, 1992

  一般社団法人 日本ロボット学会

キーワード

• 3-Dimensional Mobile Robot
• Postural Control at Free Fall
• Twisting Motion of Cat
• Vertebrate-type Backbones
• Rubber Muscle

詳細情報

• CRID: 1390282679701434752
• NII論文ID: 10006715458
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.10.648
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可