空中を落下するロボットの姿勢制御と軟着地-1-ねこひねりによる空中姿勢制御 A Study on Posture Control and Soft Landing of a Free Falling Robot : 1st Report, Posture Control by Turning Motion of a Cat

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抄録

The authors developed a 3D moving robot 'ROBOT CAT' which could control its posture in the air and could perform soft landing. This paper describes the control method of the ROBOT CAT and the experimental results. An animal cat can control its body by turning motion when released upside down from a high place. In order to realize this turning motion, the ROBOT CAT was consisted in two parts (anterior and posterior body) connected with a flexible backbone which has two degrees of freedom of motion. The backbone proposed in this paper operates on two pairs of artificial rubber muscles driven by compressed air. It is possible that this motion is applied to the posture control of astronauts and space structures.

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 57(544), p3895-3900, 1991-12

    一般社団法人日本機械学会

被引用文献:  4件中 1-4件 を表示

各種コード

  • NII論文ID(NAID)
    110002380090
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    雑誌論文
  • ISSN
    03875024
  • NDL 記事登録ID
    3751282
  • NDL 刊行物分類
    M045(制御工学)
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP引用  NDL  NII-ELS 
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