跳躍ロボットのための非対称型閉ループ柔軟カタパルト Asymmetric Robotic Catapults based on the Closed Elastica for Jumping Robot

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In this paper, we propose new asymmetric robotic catapults based on the closed elastica. The conventional robotic catapults based on the closed elastica the authors developed are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here, we found that we could obtain higher impulsive motions by adding the range limitation to a passive rotational joint which makes the shape of the elastic strip just before snap-through buckling complicated. The range limitation leads to storing the higher elastic energy for an impulsive motion without changing the actuator of the active joint. We show the results of theoretical analysis and numerical simulations which support the effectiveness of the proposed robotic catapults. We also show that the jumping robot with the asymmetric robotic catapult achieves high performance.

In this paper, we propose new asymmetric robotic catapults based on the closed elastica. The conventional robotic catapults based on the closed elastica the authors developed are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a passive rotational joint and an active rotational joint, respectively. Here, we found that we could obtain higher impulsive motions by adding the range limitation to a passive rotational joint which makes the shape of the elastic strip just before snap-through buckling complicated. The range limitation leads to storing the higher elastic energy for an impulsive motion without changing the actuator of the active joint. We show the results of theoretical analysis and numerical simulations which support the effectiveness of the proposed robotic catapults. We also show that the jumping robot with the asymmetric robotic catapult achieves high performance.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 26(4), 363-371, 2008-05-15 

    社団法人 日本ロボット学会

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各種コード

  • NII論文ID(NAID)
    10021142461
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    9513109
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  IR  J-STAGE 
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