Omnidirectional Walking Mechanism : Redundancy and Trajectory Control
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概要
- 論文の詳細を見る
This paper deals with a multiple mobile working robot, which has a six-legged locomotion function and a vertically articulated manipulator. The walking mechanism consists of a parallel link mechanism connecting two frames with three linear actuators and six extendable legs fixed to the frames. The manipulation function has 4 degrees of freedom and locomotion function has 6 degrees of freedom, thus this working robot is a redundant mechanism with 10 degrees of freedom. We propose a trajectory following control method by switching the normalizing matrix according to the freedom. The simulation results and the experimental results leads to the availability of the method.
- 一般社団法人日本機械学会の論文
- 1997-12-15
著者
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FUKUDA TOSHIO
Center for Cooperative Research in Advnced Science and Technology, Nagoya University
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Fukuda Toshio
Center For Cooperative Research In Advnced Science And Technology Nagoya University
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Fukuda T
Center Of Cooperative Research In Adaanced Science And Technology Nagoya University
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Adachi Yuji
Matusita Electric Industrial Co.ltd.
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HOSHINO Haruo
Takenaka Corporation
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MURO Eiji
Takenaka Corporation
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KURASHIGE Kentarou
Dept.of Micro System Engineering, Graduate School of Engineering, Nagoya Univ.
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Adachi Yuji
Area Of Materials And Device Physics Department Of Physical Science Graduate School Of Engineering S
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Kurashige Kentarou
Dept.of Micro System Engineering Graduate School Of Engineering Nagoya Univ.
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Fukuda Toshio
Center For Cooperative Research In Advanced Science & Technology Nagoya University
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- Preface