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Gait Design by Graph Coloring for Robots That Have Legs on Their Faces
http://hdl.handle.net/10445/8461
http://hdl.handle.net/10445/8461734bec6c-e04c-4371-afa7-76e20110e1e2
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
0205.pdf (651.9 kB)
Download is available from 2999/12/31.
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Gait Design by Graph Coloring for Robots That Have Legs on Their Faces | |||||
| 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 |
三上, 貞芳
× 三上, 貞芳× Fukuda, Tomohisa× 鈴木, 昭二 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper proposes a gait design method for robots that have legs on their faces. The method is based on a graph coloring problem in the theory of graphs. Representing a structure of a robot as a graph on a sphere, it is shown that the number of phases of movements needed for a leg is given as a minimum chromatic number of that graph. Also the allocation of an initial phase for each leg is given by a specific coloring pattern. For the demonstration of an actual hardware construction, we show a 12 legged square prismatic robot in which all the legs are driven by a row of gears. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/AIM.2015.7222518 | |||||
| 書誌情報 |
2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics p. 116-120, 発行日 2015-07-08 |
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| 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 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
