2A1-F06 ジャンピングロボットのための画像処理を用いた長縄の認識及び跳躍周期の制御(アミューズメント・エンタテイナーロボット)

概要

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Recently, jumping robots are studied in various organizations because the improvement of the speed of robots, the addition of avoiding ability the of the obstacle, and the enlargement of action range are expected if the jump movement of robots is achieved. And, it is necessary for a robot to adjust its action for the change of the environment. So, this study aims at developing a jumping robot that can jump a long rope. A one legged jumping robot that can change the jump cycle by using the air pressure was developed in the previous study. This paper examines the method of measuring rotational period of the rope by an image processing and the method of controlling the jump cycle by using the measurement results. It is confirmed that the jump cycle of the jumping robot can control appropriately by experiments.
一般社団法人日本機械学会の論文
2011-05-26