2A2-T01 関節剛性が脚間協調へ及ぼす影響に関する考察

• 福原 洸

  東北大

• 大脇 大

  東北大

• 加納 剛史

  東北大

• 石黒 章夫

  東北大

書誌事項

タイトル別名

• 2A2-T01 An Examination of Effects of Stiffness of Body Links for Interlimb Coordination in Quadrupedal Locomotion

抄録

Animals show adaptive locomotion depending on their body, speed of travel, and an environment. In quadrupedal locomotion, a spine has an important role during interaction between an body and interaction. This paper focuses on stiffness of the spine, and develops simulator for a simple quadrupedal robot which has 3 degree of freedom (roll, pitch, and yaw), so as to discuss effects of stiffness of the spine for interlimb coordination. In this simulator, stiffness of the spine are changed, and each leg of the robot is controlled by decentralized autonomous control. Different stiffness shows different gaits, walk and trot in low speed locomotion.

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 2015 (0), _2A2-T01_1-_2A2-T01_4, 2015

  一般社団法人 日本機械学会

キーワード

• Quadrupedal Locomotion
• Central pattern generator
• Interlimb coordination

詳細情報

• CRID: 1390001205940608384
• NII論文ID: 110010055647
• DOI: 10.1299/jsmermd.2015._2a2-t01_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2A2-T01_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