ブラキエーション形移動ロボットの研究 : 第2報, 励振シミュレーションおよび実験結果

概要

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This paper deals with a new method of exciting vibration for the brachiation robot, which makes use of the swing of the pendulum due to gravity. A method using self-exciting vibrations and using the periodical change of spring constant in the system is proposed as a new method of exciting vibrations and the effect of exciting vibrations is shown with some simulations and experimental results. The experiment of exciting vibration is carried out respectively for the different methods of exciting vibrations and the effects of exciting vibrations are evaluated. Furthermore, the experiment is carried out for the brachiation robot grasping the shafts of a ladder in a horizontal situation. The brachiation robot can grasp. the first shaft of a ladder by swinging the body from the initial static condition. The mobility of the brachiation robot is demonstrated by these simulation and experiment results.
一般社団法人日本機械学会の論文
1991-05-25