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  1. 学術雑誌掲載済論文
  2. 洋雑誌

Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator

https://kitami-it.repo.nii.ac.jp/records/8012
https://kitami-it.repo.nii.ac.jp/records/8012
7cfe3905-bab3-447e-a144-6a30ccaaefc3
名前 / ファイル ライセンス アクション
2014_Turn 2014_Turn Control of a Three- Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator .pdf (1.7 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2015-11-10
タイトル
言語 en
タイトル Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator
言語
言語 eng
キーワード
主題Scheme Other
主題 Passive Walking
キーワード
主題Scheme Other
主題 Turn Control
キーワード
主題Scheme Other
主題 Mechanical Oscillator
キーワード
主題Scheme Other
主題 Forced Entrainment
資源タイプ
資源 http://purl.org/coar/resource_type/c_6501
タイプ journal article
アクセス権
アクセス権URI open access
著者 Cao, Ying

× Cao, Ying

WEKO 41638

en Cao, Ying

Search repository
Suzuki, Soichiro

× Suzuki, Soichiro

WEKO 41639

en Suzuki, Soichiro

Search repository
Hoshino, Yohei

× Hoshino, Yohei

WEKO 41640

en Hoshino, Yohei

Search repository
著者別名
姓名 鈴木, 聡一郎
言語 ja
著者別名
姓名 星野, 洋平
言語 ja
抄録
内容記述タイプ Abstract
内容記述 A turn control strategy is proposed in order to improve environmental adaptability of a quasi-passive walking robot by utilizing a mechanical oscillator. The target trajectory of the mechanical oscillator is determined by online planning of its period, phase, amplitude and angle of the central axis of oscillation. The motion of the me- chanical oscillator is always entrained with the rocking motion of the robot based on forced entrainment in order to stabilize the robot. The turn radius can be controlled by adjusting the inclination angle of the central axis of the mechanical oscillator movement, and the control method is numerically and experimentally examined. Re- sults show that the robot can turn with different radius and it is possible for the robot to walk in various envi- ronments. Finally, the gait of turn is compared with that of straight walking and analyzed in terms of mechanical work and energy.
内容記述
内容記述タイプ Other
内容記述 Copyright c 2014 Ying Cao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. In accordance of the Creative Commons Attribution License all Copyrights c 2014 are reserved for SCIRP and the owner of the intellectual property Ying Cao et al. All Copyright c 2014 are guarded by law and by SCIRP as a guardian.
書誌情報 Engineering

巻 6, 号 2, p. 93-99, 発行日 2014-03
DOI
識別子タイプ DOI
関連識別子 https://doi.org/10.4236/eng.2014.62013
出版者
出版者 Scientific Research Publishing
著者版フラグ
値 publisher
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
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