書誌事項
- タイトル別名
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- 1A1-E03 Analysis of Hybrid Locomotion for Leg-Wheel Type ASTERISK H
抄録
New leg-wheel hybrid locomotion on the rough terrain is proposed for a hexapod robot. The proposed leg-wheel hybrid locomotion is realized by the continuous transition movement between the wheeled and legged locomotion. In the basic posture, the robot is supported by the three legs and moves by using their wheels on the flat plane. When the robot senses an obstacle, the support and the swing legs change each other like a tripod gait with oval orbit to overleap the obstacle. The experimental results of all combinations of four fundamental steps show the effectiveness of our method.
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 2008 (0), _1A1-E03_1-_1A1-E03_4, 2008
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
- 1390282680912247936
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- NII論文ID
- 110008695886
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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