書誌事項
- タイトル別名
-
- The Basic Considerations on Energetic Efficiencies of Walking Vehicle
- ホコウ キカイ ノ エネルギー コウリツ ニ カンスル キホンテキ コウサツ
この論文をさがす
抄録
Although the advantages of mobility in legged vehicles, in comparison to those in wheeled systems are generally recognized and the demand for such vehicles is urgent, the study of legged locomotion systems is still at the experimental stage and a practical legged vehicle has yet to be developed. The present state of research on the lower extremeties is in a remarkable contrast to that on the upper extremeties for which mechanisms such as the manipulator have already been utilized in industrial fields.<br>The authors believe that the real difficulties which retard the advent of useful legged vehicles lie in their mechanical aspects as well as in the complex coordination control of their multi-joints. Conventional legged mechanisms and their actuating systems are far from being sufficient to produce enough pay-load and to make efficient propulsive movement.<br>This paper considers the energetic efficiencies in walking. First of all the specific power ε is introduced as an evaluation measure of energetic efficiencies of locomotor. The kinematics of walking are then analyzed and its computer simulations are performed with several leg configurations and gaits. As the result of this computer simulation, some fundamental knowledge such as the fact that the insect type sprawling wide track gait is not inferior to a mammal type erect gait in its energetic efficiency and the weight of the locomotor has a great influence on its energetic efficiency is obtained.
収録刊行物
-
- 計測自動制御学会論文集
-
計測自動制御学会論文集 15 (7), 928-933, 1979
公益社団法人 計測自動制御学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679479046912
-
- NII論文ID
- 130003968711
- 10012680882
-
- NII書誌ID
- AN00072392
-
- ISSN
- 18838189
- 04534654
-
- NDL書誌ID
- 2070784
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可