T-4-3-1 Realization of Double Salto Backward for a Horizontal Bar Exercise Robot : Accelerating by the Giant Swing

スポンサーリンク

概要

• 論文の詳細を見る

• Previous paper shows the realization of single salto backward using a self-standing type horizontal bar exercise robot. Developed robot has three links which are connected with two rotational joints and driven by two DC motors. Each actuator is modeled by a damper and a torsion spring of which the setting angle is able to change during the motion. The Kane's method is used to derive equations of motion. In order to find the target values of the control, an animation program is developed by using the integration of these equations. As a result, a self-standing robot was realized a salto backward after the dismount by using simulated target values. This paper tries to realize the double salto backward that is more difficult and challenging than a single one. After the simulation, the double salto backward needs 7.3rad/s over the horizontal bar. At the first stage of research, this paper shows that this angular velocity is get by using two times of forward giant swing. Experimental results demonstrate the motion which is conformable with the simulated one.

• 一般社団法人日本機械学会の論文

著者

• Takita Yoshihiro

  Department Of Computer Science National Defense Academy

関連論文

• Study on the gaits of an inchworm robot through a narrow path
• T-4-3-1 Realization of Double Salto Backward for a Horizontal Bar Exercise Robot : Accelerating by the Giant Swing
• The Static Balance and the Semidynamical Walking of a Quadrupedal Robot

スポンサーリンク