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  1. 文献種別
  2. 学術雑誌論文/Journal Article
  1. 研究者
  2. 複雑系知能学科
  3. 三上 貞芳 (MIKAMI, Sadayoshi)

A Retrofit Passive Foldable Snow Shoe for A Legged Robot to Walk on Snowfield

http://hdl.handle.net/10445/8788
http://hdl.handle.net/10445/8788
18ed1d96-11e5-4f7f-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 2018-09-02-HAKAMADA-MIK06-5.pdf (818.7 kB)
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

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WEKO 9255

HAKAMADA, Go

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三上, 貞芳

× 三上, 貞芳

WEKO 51
e-Rad 50229655
ORCIDID 0000-0002-6059-7983

ja 三上, 貞芳
ISNI


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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
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
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