書誌事項
- タイトル別名
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- Study on Turning Motion Mechanism of Micro Robot accompanied with Cyclic Force.
- シュウキリョク オ ウケル マイクロロボット ノ センカイ ウンドウ ニ カンスル ケンキュウ
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抄録
This paper deals with the turning motion mechanism of a brush-type micro robot using cyclic centrifugal forces. Many wheeled type robots may turn usually along the tangential velocity generated by the rolling wheels. However, the micro robot proposed here has different turning property from the usual mobile robots. First, we derive a two dimensional rolling model of the brush-type robot accompanied with cyclic centrifugal forces, and indicate the existence of the lateral force toward the robot by the computer simulations and the simple mathematical analysis. Next, to confirm the turning motion mechanism caused by the lateral force, we have experiments of the turning motion using some kinds of prototype, and then acquire some experimental data concerned with circle trajectories. Finally, we conclude the validity of the turning motion mechanism caused by the lateral forces which the cyclic centrifugal force generates.
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 19 (1), 142-148, 2001
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
- 1390282679703945472
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- NII論文ID
- 10007545617
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5634257
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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
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
