多足歩行機械の自由度に関する基本的考察

• 金子 真

  機械技術研究所機械部メカニズム課

• 阿部 稔

  機械技術研究所自動車安全公害部

• 舘 〓

  機械技術研究所システム部バイオメカニクス課

書誌事項

タイトル別名

• Basic Considerations on Degrees of Freedom of Multi-Legged Locomotion Machines

抄録

All multi-legged locomotion machines that do not need any dynamic balance control can be classified into several levels functionally. The authors define (i) two dimensional walking, (ii) to maintain the body horizontal on rough terrain, (iii) to keep the absolute height of main body constant as the minimum walking functions of multi-legged locomotion machines.<BR>By the way, how many active degrees of freedom are necessary and sufficient to realize the above functions? Although the consideration of degrees of freeedom seems to be fundamental in developing multi-legged locomotion machines, this problem has not yet been studied thoroughly.<BR>From this point of view, the active degrees of freedom are examined in this paper using a four-legged machine which offers the minimum number of legs capable of keeping static stability. Resultantly it is shown that“six”is the necessary and sufficient number of active degrees of freedom to realize the above functions.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 2 (2), 142-150, 1984

  一般社団法人 日本ロボット学会

詳細情報

• CRID: 1390001204725388416
• NII論文ID: 130000844211
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.2.142
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• HANDLE: 2261/7222
• Web Site: https://repository.dl.itc.u-tokyo.ac.jp/records/454
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • IRDB
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可