2022-05-26T04:08:23Zhttps://repository.dl.itc.u-tokyo.ac.jp/oaioai:repository.dl.itc.u-tokyo.ac.jp:000004542021-03-02T00:38:03ZBasic considartion on Pegree of Freedom of, Multi-legged Locomotion Machines多足歩行機械の自由度に関する基本的考察金子, 真106581阿部, 稔106582舘, 暲106583548.3application/pdfAll 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.journal article日本ロボット学会1984-04application/pdf日本ロボット学会誌22142150AN0014118902891824https://repository.dl.itc.u-tokyo.ac.jp/record/454/files/0202B058.pdfjpn