1P1-D13 古武術における投擲動作を実現するロボットについての研究 : 直打法の実験解析

概要

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As the concern for the robot rises, humanoid robot has been researched actively in recent years. This study deals with the casting motion of a human. It is one of the fundamental motions in our daily life. In "Kobujutsu", old Japanese martial arts, there is "Jiki-dahou", that is, one of the jaculating methods of Bo-Shuriken (straight Shuriken). "Jiki-dahou" can control the rotation speed and the translational velocity at the same time. The purpose of this research is to analyze Shuriken jaculating arts in old Japanese martial arts and develop a jaculating robot that can jaculate Bo-Shuriken by "Jiki-dahou" method. A grasping and releasing mechanism of Bo-Shuriken is made for jaculating experiments of the robot. It is necessary to release Shuriken at the given accurate velocity and the angular velocity in order to meet a target. Some experiments of jaculating Bo-Shuriken has been done in order to verify the availability of the "Jiki-dahou".
2009-05-25