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Inerter effects for running robots with mechanical impedance
http://hdl.handle.net/10228/00008237
http://hdl.handle.net/10228/0000823752cf3011-05b2-46f1-88b4-25e8d9d09b29
名前 / ファイル | ライセンス | アクション |
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10319861.pdf (159.4 kB)
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Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||
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公開日 | 2021-05-06 | |||||||||||
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 | |||||||||||
タイトル | ||||||||||||
タイトル | Inerter effects for running robots with mechanical impedance | |||||||||||
言語 | ||||||||||||
言語 | eng | |||||||||||
著者 |
花澤, 雄太
× 花澤, 雄太
WEKO
23780
× Takano, Rin× Yamakita, Masaki |
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抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | This paper presents inerer effect for achieving high-speed running of legged robots. The previous simplest biped robot with mechanical impedance consisted of a mass and a telescopic leg with a spring. However, the running speed of the robot is limited by the natural period of the model, which cannot be freely designed. Our proposed method overcomes this limitation by virtue of the inerter. The effectiveness of the proposed method is demonstrated through a mathematical analysis and numerical simulations. | |||||||||||
備考 | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | 2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017), 5-8 December, 2017, Macau, Macao | |||||||||||
書誌情報 |
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) p. 996-1001, 発行日 2018-03-26 |
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出版社 | ||||||||||||
出版者 | IEEE | |||||||||||
DOI | ||||||||||||
関連タイプ | isVersionOf | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | https://doi.org/10.1109/ROBIO.2017.8324547 | |||||||||||
ISBN | ||||||||||||
識別子タイプ | ISBN | |||||||||||
関連識別子 | 978-1-5386-3741-8 | |||||||||||
ISBN | ||||||||||||
識別子タイプ | ISBN | |||||||||||
関連識別子 | 978-1-5386-3743-2 | |||||||||||
日本十進分類法 | ||||||||||||
主題Scheme | NDC | |||||||||||
主題 | 501 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | Copyright (c) 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Legged locomotion | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Springs | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Mathematical model | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Robot kinematics | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Force | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Impedance | |||||||||||
出版タイプ | ||||||||||||
出版タイプ | AM | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
査読の有無 | ||||||||||||
値 | yes | |||||||||||
研究者情報 | ||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/100000661_ja.html | ||||||||||||
論文ID(連携) | ||||||||||||
10319861 | ||||||||||||
連携ID | ||||||||||||
8789 | ||||||||||||
資料タイプ | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | Journal Article | |||||||||||
著者所属 | ||||||||||||
Dept. of Applied Science for Integrated System Engineering, Graduate School of Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, Fukuoka 804-8550, Japan | ||||||||||||
著者所属 | ||||||||||||
Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku Tokyo 152-8552, Japan | ||||||||||||
著者所属 | ||||||||||||
Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku Tokyo 152-8552, Japan |