歩行機械の転倒安定性

• 米田 完

  東京工業大学工学部

• 広瀬 茂男

  東京工業大学工学部

書誌事項

タイトル別名

• Tumble Stability Criterion of a Walking Machine.

抄録

This paper discusses a criterion judging whether a walking plan will be completely done or not, considering dynamics. A conventional“Zero Moment Point”is a useful criterion, but it is available for only a walk on a flat even terrain, and not available for that on a general rough terrain. So, we propose a new criterion named“Tumble Stability, ”in which considering a direction that a machine would be tumbling, if all the contact points except two were disappeared. The tumbling motion will be protected in practice, if some imaginarily disappeared contact points can produce a supporting force to avoid tumbling. In a case that no contact points can produce a force against tumbling, the machine will tumble indeed. By using this criterion, we can judge a plan of walking on any terrain, including walls and ceilings. We also propose a value indicating a stability named“Tumble Stability Margin, ”which equals to the conventional“Stability margin”in case of walking on a flat even terrain, and is useful for any other general terrain.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 14 (4), 517-522, 1996

  一般社団法人 日本ロボット学会

キーワード

• Walking Machine
• Dynamic Stability
• Stability Margin
• Zero Moment Point
• Rough Terrain

詳細情報

• CRID: 1390001204726327168
• NII論文ID: 10007439745
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.14.517
• 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