B13 水陸両用多関節型移動ロボット"AMMR"の実験的動特性解析とCPGを用いた運動制御(OS11 海洋におけるシステムと制御1)

概要

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Multi-link mobile robots can move several environments. Especially, amphibious multi-link robot can move on surface of water and ground. In previous work, we developed an amphibious multi-link mobile robot (AMMR). AMMR's motion patterns depend on parameters such as amplitude and frequency of target joint angles and phase difference between each joint angle. However, travel velocity, energy efficiency and behavior of robot are different on environments even if parameters are same. In this research, experimental analysis of dynamics property of an amphibious multi-link mobile robot is carried out. As target joint angles, sinusoidal waves are used and behavior, travel velocity and energy efficiency are compared between on surface of water and ground adjusting amplitude, frequency and phase difference.
2009-09-01