汎用運動解析シミュレータの開発 : 第1報,人間型ロボット

概要

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Various simulations have shown that stability in walking robots of 2,4, 6 legs, etc., can be achieved by adopting appropriate controls. In these simulations, however, two-dimensional treatment is commonly applied, and besides, there remains some vagueness as to whether the analytical treatment is propdr for cased such as multiple legs simultaneously touching the floor or functioning as thd supp6rt legd in the shifting period. The equations of walking robot are very; complicated because of the mdny links and joints involved and the changeable conditions of constraint. In this pdper, the aims, characteristics and basic concept are introduced for a comprehensive simulator of.robotmotion, called "MOSURA" , which is now under development at Kobe University. The simulater is applicable to various wdlking robots and will treat dven cup and ballgame robots in the future. It is designed to be of high extdnsibility.
一般社団法人日本機械学会の論文
1992-12-25