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Development of Rimless Wheel with Controlled Wobbling Mass
http://hdl.handle.net/10228/00007030
http://hdl.handle.net/10228/0000703043e21894-fa98-48a3-99f5-93098c590195
| 名前 / ファイル | ライセンス | アクション |
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IROS2018_hanazawa.pdf (3.6 MB)
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| Item type | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2019-02-19 | |||||||||||
| 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 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Development of Rimless Wheel with Controlled Wobbling Mass | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
花澤, 雄太
× 花澤, 雄太
WEKO
23780
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This paper presents a novel method for generating level-ground walking for a rimless wheel with a controlled wob-bling mass. Our rimless wheel achieves level-ground walking by simply controlling the wobbling mass attached to the wheel. We mathematically demonstrate that the controlled wobbling mass generates propulsive effects for the rimless wheel. The walking speed of the rimless wheel can be changed by varying the amplitude of the wobbling mass: thus slow walking to high-speed walking can be realized for the wheel. Moreover, we have developed a robot based on a rimless wheel to show effectiveness of our proposed methods. We then analyze the walking properties with respect to the physical parameters and control parameters of our robot through numerical simulation. | |||||||||||
| 言語 | en | |||||||||||
| 備考 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), October, 1-5, 2018, Madrid, Spain | |||||||||||
| 書誌情報 |
en : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 4333-4339, 発行日 2019-01-07 |
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| 出版社 | ||||||||||||
| 出版社 | 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/IROS.2018.8593812 | |||||||||||
| ISBN | ||||||||||||
| 識別子タイプ | ISBN | |||||||||||
| 関連識別子 | 978-1-5386-8094-0 | |||||||||||
| ISBN | ||||||||||||
| 識別子タイプ | ISBN | |||||||||||
| 関連識別子 | 978-1-5386-8093-3 | |||||||||||
| ISBN | ||||||||||||
| 識別子タイプ | ISBN | |||||||||||
| 関連識別子 | 978-1-5386-8095-7 | |||||||||||
| ISSN | ||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||
| 収録物識別子 | 2153-0858 | |||||||||||
| ISSN | ||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2153-0866 | |||||||||||
| 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. | |||||||||||
| 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 | ||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000661_ja.html | |||||||||||
| 論文ID（連携） | ||||||||||||
| 値 | 10332441 | |||||||||||
| 連携ID | ||||||||||||
| 値 | 7443 | |||||||||||
