ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P2-F07
会議情報

前腕の解剖学的特徴を有する四脚ロボットの歩行シミュレーション
*天池 隼斗福原 洸郡司 芽久増田 容一多田隈 建二郎加納 剛史石黒 章夫
著者情報
キーワード: Walking, Quadruped robot, Forearm
会議録・要旨集 認証あり

詳細
抄録

Body parts of modern quadruped robots, including front legs, have few degrees of freedom. In contrast, animals such as Felidae have their forelimbs with many degrees of freedom, and achieve a variety of actions (e.g. walking, climbing, and attacking). This study aimed to understand the mechanism how the complex forelimb structure functions in realizing various movements. We focused on the forearm in the forelimb structure. Forearm rotation can adjust the posture of the palm which contacts with the environments and objects. In this paper, we developed a platform for investigating the role of the forearm during walking. Specifically, we conducted a walking simulation using a quadruped robot with anatomical features of forearm, and succeeded in reproducing the forearm behavior observed in lion walking.

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