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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/80127cfe3905-bab3-447e-a144-6a30ccaaefc3
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2014_Turn Control of a Three- Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator .pdf (1.7 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2015-11-10 | |||||
| タイトル | ||||||
| タイトル | Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator | |||||
| 言語 | en | |||||
| 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 | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| アクセス権 | ||||||
| アクセス権URI | open access | |||||
| 著者 |
Cao, Ying
× Cao, Ying× Suzuki, Soichiro× Hoshino, Yohei |
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| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 44814 | |||||
| 識別子Scheme | KAKEN | |||||
| 識別子URI | https://nrid.nii.ac.jp/ja/nrid/1000030250541 | |||||
| 識別子 | 30250541 | |||||
| 姓名 | 鈴木, 聡一郎 | |||||
| 言語 | ja | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 44820 | |||||
| 識別子Scheme | KAKEN | |||||
| 識別子URI | https://nrid.nii.ac.jp/ja/nrid/1000090374579 | |||||
| 識別子 | 90374579 | |||||
| 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 |
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| 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 | |||||
