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Article: 全方向歩行形移動機構の研究 (第2報,不整地における傾斜制御)
Title | 全方向歩行形移動機構の研究 (第2報,不整地における傾斜制御) Omnidirectional Walking Mechanism (2nd Report, Inclination Control while Walking on Rough Terrain) |
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Authors | |
Keywords | Rough Terrain Inclination Control Omnidirectional Walking Mechanism Parallel Link Mechanism Moving Robot Inclinometer Robot |
Issue Date | 1995 |
Citation | 日本機械学会論文集C編, 1995, v. 61, n. 589, p. 3620-3626 How to Cite? Transactions of the Japan Society of Mechanical Engineers Series C, 1995, v. 61, n. 589, p. 3620-3626 How to Cite? |
Abstract | This paper proposes an inclination control algorithm of the Omnidirectional Walking Mechanism, which consists of a parallel link mechanism connecting two frames with three linear actuators and six elastic legs. The relative position and angle of the frames are selected arbitrarily by three actuators. Walking motion is produced by combining them with extendable legs. The ground is not always flat, and many different levels and obstacles exist, so posture control is essential for robot-labor. Posture of the robot can be controlled by changing the lengths of the legs referring data from inclination sensors. We constructed an experimental prototype model, and used the above method to control the inclination of the upper surface of the prototype model. The performance was investigated in terms of motion in every direction and over steps, and as a result of the experiments, it is confirmed that this robot can walk in all directions and can walk on a gentle slope by controlling the inclination of the upper surface. © 1995, The Japan Society of Mechanical Engineers. All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/302656 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
DC Field | Value | Language |
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dc.contributor.author | Fukuda, Toshio | - |
dc.contributor.author | Adachi, Yuji | - |
dc.contributor.author | Hoshino, Haruo | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Muro, Eiji | - |
dc.contributor.author | Matsunaga, Isao | - |
dc.contributor.author | Arai, Fumihito | - |
dc.date.accessioned | 2021-09-07T08:42:20Z | - |
dc.date.available | 2021-09-07T08:42:20Z | - |
dc.date.issued | 1995 | - |
dc.identifier.citation | 日本機械学会論文集C編, 1995, v. 61, n. 589, p. 3620-3626 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers Series C, 1995, v. 61, n. 589, p. 3620-3626 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302656 | - |
dc.description.abstract | This paper proposes an inclination control algorithm of the Omnidirectional Walking Mechanism, which consists of a parallel link mechanism connecting two frames with three linear actuators and six elastic legs. The relative position and angle of the frames are selected arbitrarily by three actuators. Walking motion is produced by combining them with extendable legs. The ground is not always flat, and many different levels and obstacles exist, so posture control is essential for robot-labor. Posture of the robot can be controlled by changing the lengths of the legs referring data from inclination sensors. We constructed an experimental prototype model, and used the above method to control the inclination of the upper surface of the prototype model. The performance was investigated in terms of motion in every direction and over steps, and as a result of the experiments, it is confirmed that this robot can walk in all directions and can walk on a gentle slope by controlling the inclination of the upper surface. © 1995, The Japan Society of Mechanical Engineers. All rights reserved. | - |
dc.language | jpn | - |
dc.relation.ispartof | 日本機械学会論文集C編 | - |
dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers Series C | - |
dc.subject | Rough Terrain | - |
dc.subject | Inclination Control | - |
dc.subject | Omnidirectional Walking Mechanism | - |
dc.subject | Parallel Link Mechanism | - |
dc.subject | Moving Robot | - |
dc.subject | Inclinometer | - |
dc.subject | Robot | - |
dc.title | 全方向歩行形移動機構の研究 (第2報,不整地における傾斜制御) | - |
dc.title | Omnidirectional Walking Mechanism (2nd Report, Inclination Control while Walking on Rough Terrain) | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.61.3620 | - |
dc.identifier.scopus | eid_2-s2.0-0029371217 | - |
dc.identifier.volume | 61 | - |
dc.identifier.issue | 589 | - |
dc.identifier.spage | 3620 | - |
dc.identifier.epage | 3626 | - |