2A1-J03 2自由度振動系を利用した高速階段昇降に関する研究 : GAによる跳躍パラメータの決定(特殊移動ロボット・メカトロニクス)

概要

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In this study, we propose a simple hopping mechanism using vibration of a two-degrees-of-freedom system for a wheel-based hopping robot. The robot, consisting of two bodies connected by spring and a wire, hops by releasing stored energy in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters such as the mass of lower body and the mass of upper body and initial contraction of the spring, the spring constant. This property allows fast movement, hopping up and down steps, leaping over a cable and soft landing. In this paper, the design parameters that perform soft-landing are investigated by a genetic algorithm.
一般社団法人日本機械学会の論文
2007-05-11