書誌事項
- タイトル別名
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- 2P1-C09 A Study on Fast Stair Climbing by Vehicle using Vibration of 2-DOF System : Control of Soft-landing Point using Wire Tension
抄録
In this study, we propose a simple hopping mechanism using vibration of a two-degree-of freedom system for a wheel-based robot. The robot, consisting of two bodies connected by spring and a wire, hops by releasing stored energy in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters such as the mass of lower body and the mass of upper body and initial contraction of the spring, the spring constant. This property allows fast movement, hopping up and down steps, leaping over a cable and soft landing. In this paper, we control a soft-landing point by the wire tension and demonstrate fast stair climbing and soft-landing.
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), _2P1-C09_1-_2P1-C09_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
- 1390001205934671744
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- NII論文ID
- 110008696472
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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