WEKO3
アイテム
Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs
http://hdl.handle.net/10228/00009109
http://hdl.handle.net/10228/00009109771d2eb2-b953-4a40-8884-612956be66a5
| 名前 / ファイル | ライセンス | アクション |
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10402805.pdf (726.9 kB)
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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 | 2023-03-07 | |||||||||||||
| 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 Pneumatically Driven Tensegrity Manipulator without Mechanical Springs | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Yoshimitsu, Yuhei
× Yoshimitsu, Yuhei× Tsukamoto, Kenta× 池本, 周平
WEKO
30354
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | This paper reports a tensegrity manipulator driven by 40 pneumatic cylinders without mechanical springs. In general, tensegrity robots use mechanical springs to achieve a stable/curved tensegrity structure, and this is true even when a component extends/retracts with an actuator. The stiffness of the mechanical spring should be high to increase the stiffness of the entire structure and improve the control response, but low to deform the structure. This fact means that the introduction of mechanical springs causes serious trade-offs in its design and control. In this study, we use pneumatic actuators not only for active deformation but also for passive. In this paper, we introduce the design and control system and then show the difference in response characteristics between the case with and without a spring, demonstrating the importance of the approach without a mechanical spring. | |||||||||||||
| 言語 | en | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, October 23 - 27, Kyoto, Japan | |||||||||||||
| 書誌情報 |
en : 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 3145-3150, 発行日 2022-12-26 |
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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/IROS47612.2022.9982208 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2153-0866 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 2153-0858 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2022 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 | Pneumatic actuators | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Mechanical cables | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Pneumatic systems | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Manipulators | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Frequency response | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Springs | |||||||||||||
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| 主題Scheme | Other | |||||||||||||
| 主題 | Intelligent robots | |||||||||||||
| 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/100001226_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10402805 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 11084 | |||||||||||||
