WEKO3
アイテム
Frog-Like Robot with Jump and Walk Mechanism for Locomotion on Rough Terrain - Designing Legs with Biarticular Muscles and Slide-Lock Mechanism -
http://hdl.handle.net/10445/8457
http://hdl.handle.net/10445/8457771c99db-6dd1-487d-8fe0-1b4895067dc5
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Fr43.5-P0260.pdf (365.0 kB)
Download is available from 2999/12/31.
|
|
| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Frog-Like Robot with Jump and Walk Mechanism for Locomotion on Rough Terrain - Designing Legs with Biarticular Muscles and Slide-Lock Mechanism - | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Igarashi, Ayano
× Igarashi, Ayano× 三上, 貞芳 |
|||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | The purpose of this study is to develop a frog-like robot that is able to avoid obstacles by jumping and walking on rough terrains by legs. There is no study that realizes both instantaneous jumping ability and precise control of leg joints in a single compact body. In this study, we refer to a musculoskeletal model of a frog and develop a leg mechanism that is designed to extend the leg instantly by a wire drive which is similar to a biarticular muscle of a frog. With this mechanism, two pins slide along with an L-form slot during wire tension, by which the joint swings to apply jumping force. We verified the mechanism by constructing an actual model and found that the joints could passively slide to the extending position by only applying tension on the wire for jumping. Calculation of necessary wire torque is also described. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/ICARCV.2014.7064587 | |||||
| 書誌情報 |
13th International Conference on Control, Automation, Robotics and Vision p. Fr43.5, 発行日 2014-12-10 |
|||||
| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
