多脚歩行ロボットの分散型脚協調制御

• 稲垣 克彦

• 小林 尚登

書誌事項

タイトル別名

• Distributed Autonomous Control for Quadruped Walking Robots and Their Synchronized Motion.
• タ キャク ホコウ ロボット ノ ブンサンガタ キャクキョウチョウ セイギョ

抄録

Quadruped walking animals can walk smoothly and they change their walking manner according to the walking speed. Since this motion is governed by the nerve center, it is automonous and natural. In this study we attempt to construct a new controller for walking robots, which realizes natural walking such as that of animals. The controller consists of a central rhythm generator and a distributed controller attached to each leg. The distributed controller can drive each leg automonously and synchronize it with the other legs. Moreover it automatically realizes a suitable gait according to the walking speed.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 59 (564), 2361-2367, 1993

  一般社団法人 日本機械学会

キーワード

• Mechatronics and Robotics
• Robot
• Positioning
• Distributed Autonomous Control
• Synchronized Motion Control
• Gait Transition

詳細情報

• CRID: 1390001206297013248
• NII論文ID: 130004083138
• NII論文ID: 110002392862
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.59.2361
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 3836238
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3836238
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/59/564/59_564_2361/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可