2足歩行ロボットの省自由度構成

米田 完, 玉木 達也, 大田 祐介, 倉爪 亮

研究成果: Contribution to journalArticle査読

抄録

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.
寄稿の翻訳タイトルDesign of Bipedal Robot with Reduced Degrees of Freedom
本文言語日本語
ページ(範囲)546-553
ページ数8
ジャーナル日本ロボット学会誌
21
5
DOI
出版ステータス出版済み - 7 15 2003

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