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A Retrofit Passive Foldable Snow Shoe for A Legged Robot to Walk on Snowfield
http://hdl.handle.net/10445/8788
http://hdl.handle.net/10445/878818ed1d96-11e5-4f7f-990d-d9926d3a493a
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2018-09-02-HAKAMADA-MIK06-5.pdf (818.7 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2019-10-03 | |||||
| タイトル | ||||||
| タイトル | A Retrofit Passive Foldable Snow Shoe for A Legged Robot to Walk on Snowfield | |||||
| 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_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
HAKAMADA, Go
× HAKAMADA, Go× 三上, 貞芳 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | A new attachment for a legged robot to help walking on snowfield is proposed. The device works like a snowshoe for human and prevents the robot from sinking in or slipping on the snow surface. Comparing to a bipedal human, a multi-legged robot has much larger numbers of legs and their ranges of movement are limited. For this reason, it was difficult to attach a large foot without making leg collision or stepping on an adjacent foot. To overcome these problems, this paper proposes an automatic retraction and expansion mechanism of wide snow-contacting framings which are passively operated by gravitation. Also, for the problem of stepping on an adjacent foot, we propose a passive downward-deflection mechanism which allows the lower shoe to smoothly exit from the upper shoe. The experiments to examine the performance of movement on some snowfields and the measurement of slip resistance force showed the effectiveness of our design. The proposed shoe does not rely on any external control logic. Therefore, it is easily attached to many existing legged robots. | |||||
| 書誌情報 |
International Journal of Mechanical Engineering and Robotics Research 巻 8, 号 6, p. 867-872, 発行日 2019-11 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 22780149 | |||||
| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 原著論文/Original Paper | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.18178/ijmerr.8.6.867-872 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 出版者 | ||||||
| 出版者 | International Journal of Mechanical Engineering and Robotics Research | |||||
