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Dynamics of a multi-legged locomotion robot
https://jaxa.repo.nii.ac.jp/records/7774
https://jaxa.repo.nii.ac.jp/records/7774fa75b9d5-98a0-4510-92f5-a6b87e7415ea
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Dynamics of a multi-legged locomotion robot | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボットダイナミクス | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 3次元モデル | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 多脚歩行ロボット | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | マニューバ性能 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボット制御 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | エンドエフェクター | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数値解析 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数値シミュレーション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数学モデル | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 計画軌跡 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot dynamics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | three dimensional model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | multi-legged locomotion robot | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | maneuverability | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robot control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | end effector | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | numerical analysis | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | numerical simulation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | mathematical model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | nominal trajectory | |||||
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 | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
その他のタイトル | ||||||
その他のタイトル | 多脚歩行ロボットの動力学解析 | |||||
著者 |
土屋, 和雄
× 土屋, 和雄× 青井, 伸也× 辻田, 勝吉× Tsuchiya, Kazuo× Aoi, Shinya× Tsujita, Katsuyoshi |
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著者所属 | ||||||
京都大学 大学院工学研究科 | ||||||
著者所属 | ||||||
京都大学 大学院工学研究科 | ||||||
著者所属 | ||||||
京都大学 大学院工学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Kyoto University Graduate School of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Kyoto University Graduate School of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Kyoto University Graduate School of Engineering | ||||||
出版者 | ||||||
出版者 | 宇宙科学研究所 | |||||
出版者(英) | ||||||
出版者 | The Institute of Space and Astronautical Science (ISAS) | |||||
書誌情報 |
平成14年度アストロダイナミクスシンポジウム:講演後刷り集 en : ISAS Proceedings of 12th Workshop on Astrodynamics and Flight Mechanics 2002: A Collection of Technical Papers p. 67-72, 発行日 2003-02 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本論文は、まず多脚歩行ロボットの直線歩行運動に対する安定解析を行う。そして、その動特性に基づいて旋回歩行制御則を提案する。この提案する制御則の有効性を数値シミュレーションにより検証する。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, first, stability of locomotion of the multi-legged locomotion robot along line is analyzed, and then, based on the dynamic characteristics, a turning strategy is proposed. The effectiveness of the turning strategy is verified by the numerical simulations. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0918-8053 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0045497012 |