日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
索状能動体の研究
―多関節体幹による連続曲線近似法―
山田 浩也広瀬 茂男
著者情報
ジャーナル フリー

2008 年 26 巻 1 号 p. 110-120

詳細
抄録

We propose a method of approximating a continuous curve by Active Cord Mechanism. In this method we only use deformation parameters of a curve such as curvature and torsion, and do not use coordinates of a curve, so the proposed method does not include solution of nonlinear equations and the calculation cost is less than former methods. We also discuss the convergence of approximating error in this method and show the error is inversely proportional to square of the number of links in planar case. The proposed method is simple and easy to apply, so it is useful for control of multi-joint robots, particularly for control of snake-like robots. We have implemented the proposed method on real snake-like robots and shown the merit of the proposed method by experiments. This result shows the proposed method is effective for study of snake-like robots.

著者関連情報
© 社団法人 日本ロボット学会
前の記事
feedback
Top