2A2-F05 超多脚型受動的動歩行ロボットの実験的検証

• 吉岡 秀隆

  神戸大学

• 杉本 靖博

  大阪大学

• 大須賀 公一

  大阪大学

書誌事項

タイトル別名

• 2A2-F05 Experiment of the Super Multi-legged Passive Dynamic Walking Robot

抄録

A passive dynamic walking (PDW) robot can walk down a gentle slope naturally without any actuator or controller. Therefore, it is thought that the principle of walking exists in this. By current researches, PDW was confirmed for two or four. However, it is also important to study PDW for more than 6 legs because there are many creatures for more than 6 legs. In our previous research, a PDW for more than six legs was analyzed by a simulator. As a result, it was confirmed that PDW even for 20 legs could be achieved. Furthermore, its gait could be changed by changing the body structure. In this paper, by experiments with a real walking robot, it is confirmed that six-legged robot can walk and its gait can be changed.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A2-F05_1-_2A2-F05_2, 2010

  一般社団法人 日本機械学会

キーワード

• passive dynamic walking
• super multi-leg

詳細情報

• CRID: 1390282680913890432
• NII論文ID: 110008741995
• DOI: 10.1299/jsmermd.2010._2a2-f05_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__2A2-F05_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可