Synthesis of Leg-Mechanisms of Biped Walking Machines : Part II, Synthesis of Foot-Driving Mechanism
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概要
- 論文の詳細を見る
The paper describes a kinematic synthesis of a planner link mechanism with only revolute pairs to drive the foot which is attached to the ankle-path-generator obtained in the 1st paper. The ankle-joint angle and foot dimension necessary to realize a required gait have been determined in the case where the ankle-path-generator is predetermined. Then, a mechanism which is composed of a six-bar mechanism fixed on the thigh and a four-bar mechanism on the shank has been proposed and synthesized to drive the foot. A walking machine has been manufactured by combining the synthesized ankle-path-generator and the foot-driving mechanism with a mechanism for compensation of moments due to the gravitational and inertial forces. The machine has been experimentally confirmed to walk satisfying the given conditions.
- 一般社団法人日本機械学会の論文
著者
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OGAWA Kiyoshi
Musashi Institute of Technology
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FUNABASHI Hiroaki
Tokyo Institute of Technology
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Iwatsuki Nobuyuki
Tokyo Institute Of Technology
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HONDA Iwao
Mitsubishi Heavy Industries Ltd.
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Funabashi Hiroaki
Tokyo Institute Of Techinology
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