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多足歩行機械の自由度に関する基本的考察
http://hdl.handle.net/2261/7222
http://hdl.handle.net/2261/722286244a2b-01b6-4ebd-aea8-ea84bcd4db5e
名前 / ファイル | ライセンス | アクション |
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0202B058.pdf (614.4 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-03-12 | |||||
タイトル | ||||||
タイトル | 多足歩行機械の自由度に関する基本的考察 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | Basic considartion on Pegree of Freedom of, Multi-legged Locomotion Machines | |||||
著者 |
金子, 真
× 金子, 真× 阿部, 稔× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106584 | |||||
識別子Scheme | WEKO | |||||
姓名 | Kaneko, Makoto | |||||
著者別名 | ||||||
識別子 | 106585 | |||||
識別子Scheme | WEKO | |||||
姓名 | Abe, Minoru | |||||
著者別名 | ||||||
識別子 | 106586 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tachi, Susumu | |||||
著者所属 | ||||||
著者所属 | 機械技術研究所 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. By the way, how many active degrees of freedom are necessary and sufficient to realize the above functions? Althought the consideration of degrees of freedom seems to be fundamental in developing multi-legged locomotion machines, this problem has not yet been studied thoroughly. From this point of view, the active degrees of freedom are examined in this paper using a fourlegged 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. | |||||
書誌情報 |
日本ロボット学会誌 巻 2, 号 2, p. 142-150, 発行日 1984-04 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
日本十進分類法 | ||||||
主題 | 548.3 | |||||
主題Scheme | NDC | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 |