3A1-C07 ヒューマノイドロボットの不整地歩行のための軟弱地面動的沈下モデル(ヒューマノイド(1))

• 小貫 督仁

  北大

• 小水内 俊介

  北大

• 近野 敦

  北大

書誌事項

タイトル別名

• 3A1-C07 Dynamic Sink Model of Loose Soil for Humanoid Robot Walking on Uneven Terrain(Humanoid (1))

抄録

When a humanoid robot walks on loose soil such as sand and snow, it is important for the humanoid robot to roughly estimate the dynamic behavior of the loose soil. This paper discusses a dynamic model of loose soil. Sand is taken as an example of loose soil. A mock-up of a foot of the humanoid robot with different loads is dropped onto the sand, and the relationship between the sinkage and ground reaction force generated on the mock-up is investigated. Based on the experimental results, a dynamic sink model of the sand is discussed. The parameters of the model are determined by performing dynamic simulations so that the error between the simulation result and experimental result is minimized.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _3A1-C07_1-_3A1-C07_4, 2014

  一般社団法人 日本機械学会

キーワード

• Humanoid robot
• Loose soil
• Walking on uneven terrain

詳細情報

• CRID: 1390001205938241024
• NII論文ID: 110009967042
• DOI: 10.1299/jsmermd.2014._3a1-c07_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__3A1-C07_1/_pdf
• 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