WEKO3
アイテム
エネルギー効率の観点からみた歩行機械の相似性に関する基礎的研究
http://hdl.handle.net/2261/7224
http://hdl.handle.net/2261/7224794c4f5f-02de-41ef-88ef-2973471ba780
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
0303B035.pdf (832.6 kB)
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| 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 | エネルギー効率の観点からみた歩行機械の相似性に関する基礎的研究 | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Walking machine | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Specific resistance | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Similarity | |||||
| 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 Study on Similarity in Walking Machine from a Point of Energetic Efficiency | |||||
| 著者 |
金子, 真
× 金子, 真× 舘, 暲× 谷江, 和雄× 阿部, 稔 |
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| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106597 | |||||
| 姓名 | KANEKO, Makoto | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106598 | |||||
| 姓名 | TACHI, Susumu | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106599 | |||||
| 姓名 | TANIE, Kazuo | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106600 | |||||
| 姓名 | ABE, Minoru | |||||
| 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 | This paper describes the problem of similarity on walking machines in the energetic efficiency. First of all, five non-dimensional parameters which control the energetic efficiency of walking machines are introduced for nine physical parameters by applying the techniques of dimensional analysis. In order to check those influences on the energetic efficiency, the basic considerations on actuator arrangement and computer simulations are performed for n-legged walking model. The influence on the ground reaction forces caused by the leg inertia forces is especially considered in this simulation. Simulation results and basic explanations on similarity are concluded in the following way : (1) Energetic efficiency (specific resistance) is largely influenced by the body height ratio, even though the same stride ratio is assumed. (2) Energetic efficiency (specific resistance) is influenced linearly by the leg/body mass ratio. (3) Ground reaction forces due to the leg inertia force are not always negligible. (4) Six-legged machines (minimum duty factor=0.5) consume the fewer energy than four-legged machines (minimum duty factor=0.75) in high walking speed, while the result becomes opposite in extremely low speed. (5) Even though two walking machines have the similar configurations and same leg/body mass ratio, energetic efficiencies for both machines are not equal gererally, and same energetic efficiencies are only realized in the limited walking speed. | |||||
| 書誌情報 |
日本ロボット学会誌 巻 3, 号 3, p. 207-219, 発行日 1985-06 |
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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Scheme | NDC | |||||
| 主題 | 548.3 | |||||
| 出版者 | ||||||
| 出版者 | 日本ロボット学会 | |||||
