2013年5月22日
1A1-P02 四脚ロボットの曲線歩行運動(脚移動ロボット(1))
ロボティクス・メカトロニクス講演会講演概要集
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- 巻
- 2013
- 号
- 開始ページ
- "1A1
- 終了ページ
- P02(1)"-"1A1-P02(4)"
- 記述言語
- 日本語
- 掲載種別
- 出版者・発行元
- 一般社団法人日本機械学会
A time optimal control method for quadruped walking robots is developed and installed into a practical robot system. The fastest straight walking has already been obtained by our previous study. Though that is only straight walking, moving range is restricted. Therefore, the purpose of this study is theory construction of curved walking for quadruped robots because of increasing moving range and earlier arriving at target. By means of deriving curved path stroke of robot body, placing position of legs, and dynamic equation of robot body, we obtain it.
- リンク情報
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- CiNii Articles
- http://ci.nii.ac.jp/naid/110009963745
- CiNii Books
- http://ci.nii.ac.jp/ncid/AA11902933
- ID情報
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- CiNii Articles ID : 110009963745
- CiNii Books ID : AA11902933