跳躍機械の着地制御

• 中野 栄二

  東北大学工学部

• 大久保 宏樹

  東北大学工学部

• 木村 浩

  東北大学工学部

書誌事項

タイトル別名

• The landing control of a jumping machine.

抄録

The purpose of this research is to make a jumping machine jump over a big obstacle and a ditch. Therefore, the authors plan to do fundamental researches to (1) make jumping machine jump as highly as possible, (2) control the direction of the jumping, (3) control the attitude of it in the air and (4) make it land softly.<BR>In this paper the way to make the jumping machine land softly is described. The optimum softlanding of the jumping machine is defined as follows:<BR>•First, the impulse which a jumping machine receives from outside is minimized.<BR>•Secondly, the maximum of the force which the jumping machine receives from outside is minizized.<BR>When the jumping machine lands, we apply this definition to the body and the leg of the jumping machine. Then the validity of the softlanding is proved by the experiments usining the jumping machine.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 9 (2), 169-176, 1991

  一般社団法人 日本ロボット学会

キーワード

• Jumping Machine
• Softlanding
• Landing Control

詳細情報

• CRID: 1390282679702054400
• NII論文ID: 130000850276
• DOI: 10.7210/jrsj.9.169
• 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