2P1-C07 歩容を考慮した移動形態切換えのためのロボット制御最適化(特殊移動ロボット)

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概要

• 論文の詳細を見る

• This paper describes the optimal mode change control between leg-type and wheel-type locomotion based on different traveling configurations. Also, we discuss moving gaits for forward or backward motion, ascending or descending on a slope. The gaits are classified into knee ahead and knee behind depending on the knee joint location from the hip joint toward the robot proceeding direction. In each walking gait on a slope the robot motion is simulated in the mode change from leg-type to wheel-type and vice versa. Also, we verify whether the results are reasonable or not in harmonizing the direction of the hip joint rotation, so that the robot can proceed toward the same direction continuously.

• 一般社団法人日本機械学会の論文
• 2008-06-06

著者

• Botelho Wagner

  Graduate School Of Niigata University

• Shimizu Toshimi

  Department Of Biocybernetics Niigata University

• OKADA Tokuji

  Department of Biocybernetics, Niigata University

• Okada Tokuji

  Department Of Biocybernetics Niigata University

• Okada Tokuji

  Department Of Biocybernetics Faculty Of Engineering Niigata University

関連論文

• 2P1-C07 歩容を考慮した移動形態切換えのためのロボット制御最適化(特殊移動ロボット)
• Development of a steerable, wheel-type, in-pipe robot and its path planning
• 2P1-C10 Circular Path Estimation of a Rotating Four-Legged Robot Using a Hybrid Genetic Algorithm LSM
• Control of a Two-link Flexible Manipulator Using an Artificial Immune System and an Adaptive Neural Network(Asia-Pacific Symposium on Applied Electromagnetics and Mechanics(APSAEM10))

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