1986 年 29 巻 256 号 p. 3545-3552
This paper presents a new concept of a flexible and versatile shape reconfigurable control mechanism of a robot, called a versatile robotnoid (Vroid), which can be applied for plant maintenance work and other outdoor operational works, where the working environments are restricted due to mobile space and terrain. The Vroid I based on the multiple link-wheel mechanism has abilities of passing through rough terrains, passing over obstacles and going up and down stairways. Compare with the conventional wheel, crawler and legged locomotion types of the mobile mechanisms, the proposed Vroid I is considered superior with respect to flexibility and adaptability to working environments. Utilizing the redundance of joints in degrees of freedom, a method of the joint static control sequence is proposed to minimize the torques required to joint rotation under some constraints, which can easily be solved by the linear programming approach.
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 1, Solid mechanics, strength of materials