４足歩行機械の踏み換え歩容に関する研究

• 広瀬 茂男

  東京工業大学工学部

• 横井 一仁

  機械技術研究所ロボティクス部

書誌事項

タイトル別名

• The standing posture transformation gait of the quadruped walking vehicle.

抄録

In order to endow the walking vehicle with high mobility, analytical study to generate miscellaneous and effective gait have to be investigated. The paper defineds a standing posture transformation (SPT) gait as the gait which transfers the walking vehicle from arbitrary four legs standing posture to other four legs standing posture, and makes theoretical consideration for the proper generation of the SPT gait. The theory is verified by computer simulation. The SPT gait is indispensable to generate, for example, approaching motion of the walking vehicle to the working site in order to fix itself in a certain desireable posture, or smooth transfer walking from any transitional posture of a gait to another gait.<BR>As a result of the analysis and simulation study, it is shown that any SPT gait can be executed with the possibility of 100% if the six times leg motion is allowed. In case of the leg motion six times, it is shown that the 25% is possible for the SPT gait with four times less than leg motion and with no shifting motion of the body's center of gravity ; the 99% is possible for the SPT gait with five times leg motion and with shifting motion of the body's center of gravity. Optimum method to realize these SPT gaits is also discussed. The validity of the considerations is successfully demonstrated by the gait control experiments using the constructed quadruped walking vehicle named TITAN III.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 4 (4), 364-373, 1986

  一般社団法人 日本ロボット学会

キーワード

• Mobile robot
• Quadruped walking vehicle
• Gait control
• Standing posture transformation

詳細情報

• CRID: 1390282679703019648
• NII論文ID: 130000849626
• DOI: 10.7210/jrsj.4.364
• ISSN: 18847145
• ISSN: 02891824
• 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