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  1. 124 情報理工学系研究科
  2. 30 システム情報学専攻
  3. 1243010 学術雑誌論文
  1. 0 資料タイプ別
  2. 10 学術雑誌論文
  3. 015 技術・工学

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
86244a2b-01b6-4ebd-aea8-ea84bcd4db5e
名前 / ファイル ライセンス アクション
0202B058.pdf 0202B058.pdf (614.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 106581

金子, 真

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阿部, 稔

× 阿部, 稔

WEKO 106582

阿部, 稔

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舘, 暲

× 舘, 暲

WEKO 106583

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著者別名
識別子
識別子 106584
識別子Scheme WEKO
姓名
姓名 Kaneko, Makoto
著者別名
識別子
識別子 106585
識別子Scheme WEKO
姓名
姓名 Abe, Minoru
著者別名
識別子
識別子 106586
識別子Scheme WEKO
姓名
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
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
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