多自由度跳躍ロボットの設計 : 基本設計と計算機シミュレーション Design of Multi-DOF Jumping Robot : Basic Design and Computer Simulation

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抄録

We are researching design and control of jumping robots (e.g. normal jump, somersault, jump on a stair) composed of a multi degrees of freedom link. We call such robots"Multi-DOF Jumping Robot". In this paper, we deal with 5 link 4 joint serial link as an example of Multi-DOF Jumping Robot, and discuss about the way of determination of design parameters under realistic conditions. The design parameters mean not only mechanical parameters but also motion planning parameters. At first, we show the type of jumping motion that we deal with in this paper, and derive conditions to achieve that. Then, we propose a motion planning method for jumping motions on the basis of boundary state between ground and aerial phase. Next, we deliberate limit characteristic of DC motors that are suitable for Multi-DOF Jumping Robot design, and derive equations that express the limit characteristic. At last, we present one set of practical design parameters, and show simulation results of normal jump and somersault.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 92-100, 2002-03-15

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10008213144
  • 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
    6107809
  • 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  J-STAGE 
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