高剛性受動関節を有する閉ループ柔軟カタパルトと遊泳ロボットへの応用  [in Japanese] A Robotic Catapult based on the Closed Elastica with a High Stiffness Endpoint and Its Application to Swimming Tasks  [in Japanese]

Access this Article

Search this Article

Author(s)

Abstract

In this paper, we propose a new robotic catapult with a high stiffness endpoint. The conventional robotic catapults based on the closed elastica 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 free joint and an active joint, respectively. Here we found that by adding only the high stiffness at the free joint, compared to the conventional type, more elastic energy can be stored and release surely without loss of a characteristic of generating impulsive motion repeatedly. By utilizing the proposed robotic catapult based on the closed elastica with a high stiffness endpoint, we develop a novel swimming robot which can swim not only continuously but briskly from a stationary state.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 27(10), 1144-1153, 2009-12-15

    The Robotics Society of Japan

References:  30

Cited by:  3

Codes

  • NII Article ID (NAID)
    10026089904
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    10527292
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  IR  J-STAGE 
Page Top