2足歩行ロボットの省自由度構成

Translated title of the contribution: Design of Bipedal Robot with Reduced Degrees of Freedom

米田 完, 玉木 達也, 大田 祐介, 倉爪 亮

Research output: Contribution to journalArticle

Abstract

Typical human-based biped robot has 12-DOF for its legs, but there may be another approach not to take a model on human, but to design function oriented. To design a practical light-weight biped, reducing a number of DOF is one of the most efficient method. This paper discusses minimum number of DOF for various cases, where 4, 7, 5 is the resultant minimum number of DOF for horizontally composed terrain, uneven terrain with normal leg exchange sequence, uneven terrain with partial leg exchange sequence, respectively. This paper also shows practical designs of bipeds with 5, 8, and 6-DOF. Trial manufactured machines based on these discussions could show good performances on stairs and uneven terrain.
Original languageJapanese
Pages (from-to)546-553
Number of pages8
Journal日本ロボット学会誌
Volume21
Issue number5
DOIs
Publication statusPublished - Jul 15 2003

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