WEKO3
アイテム
Development of a rimless wheel robot with telescopic legs for step adaptability
http://hdl.handle.net/10228/0002000458
http://hdl.handle.net/10228/000200045835087bda-a5a2-4653-b742-4d0aefd9c2ca
| 名前 / ファイル | ライセンス | アクション |
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10429223.pdf (1.6 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2024-04-01 | |||||||||||||
| 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 | Development of a rimless wheel robot with telescopic legs for step adaptability | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
花澤, 雄太
× 花澤, 雄太
WEKO
23780
× Uchino, Yuhi
× 相良, 慎一 |
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | In this study, we developed a rimless wheel robot with elastic telescopic legs that can overcome steps. Numerical studies have shown that a rimless wheel robot with elastic telescopic legs has high adaptability to steps. However, rimless wheel robots that can walk in environments with steps have not yet been developed. To develop a rimless wheel robot that could overcome the steps, we initially developed a three-dimensional model of the robot through Unity software and simulated its walking on level ground and surfaces with steps. Then, we determined the optimal elasticity of the elastic telescopic legs through numerical simulation and constructed a model with optimized parameters. Finally, we conducted the walking experiments employing the developed robot. The robot can walk on level ground and surfaces with steps. | |||||||||||||
| 言語 | en | |||||||||||||
| 書誌情報 |
en : Artificial Life and Robotics 発行日 2024-03-26 |
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| 出版社 | ||||||||||||||
| 出版者 | Springer | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1007/s10015-024-00943-w | |||||||||||||
| NCID | ||||||||||||||
| 収録物識別子タイプ | NCID | |||||||||||||
| 収録物識別子 | AA11239104 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 1433-5298 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 1614-7456 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報Resource | http://creativecommons.org/licenses/by/4.0/ | |||||||||||||
| 権利情報 | This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Walking robot | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Rimless wheel | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Telescopic leg | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000661_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10429223 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 11879 | |||||||||||||
