書誌事項
- タイトル別名
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- 1A1-E12 Sliding Motion of Biped Walking Robots Mounted on Passive Wheels : 2nd Report: Realization of Kicking Motion by Roller Skates
抄録
Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. This paper describes a motion pattern generation for roller skating of biped walking robots. If the robot's weight is on the standing foot during kicking motion, there will be no sufficient friction for the kicking foot. So, we propose a kicking pattern generation based on ZMP from a kicking phase to a standing phase. Through hardware experiments, a skating motion was realized, and the effectiveness of the proposed method was confirmed.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2007 (0), _1A1-E12_1-_1A1-E12_4, 2007
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680911311232
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- NII論文ID
- 110008694933
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可