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-I21
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四脚動物の肩部柔軟性と脚運動の模倣に向けた脚機構の提案
*福原 洸郡司 芽久増田 容一多田隈 建二郎石黒 章夫
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会議録・要旨集 認証あり

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This study aims to understand design principles underlying adaptive behaviors of cursorial mammals (e.g., cheetahs) that exploit their flexible connection in the shoulder region. To evaluate the effects of the flexible shoulder on various locomotor tasks, e.g., walking, running, jumping, and landing, we design a new limb mechanism for a new robotic platform. The proposed limb mechanism transmits two actuators’ driving forces on the trunk unit through a multi-layer universal joint shaft. The flexible connection allows the foot to generate stride motion and the scapula to move translationally in the sagittal plane.

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