2足歩行の開始特性の可操作性による解析

抄録

The study of kinematic characteristics of robot manipulators is evolving new approaches to the link mechanisms having many degrees of freedom. The manipulability of a robotic hand was proposed recently to measure the working effectiveness of distributed multiple actuators; the algebra of the spatial vectors, as another example, resembles closely mathematical quantities called screws and motors, which are used extensively in the kinematics. These approaches are applied to bipedal locomotion in this paper. The results suggest that they are useful to further developments of legged robots and to found a theoretical framework for the robotic link mechanisms in general. Also the joints in the link mechanisms are classfied into three types from the kinematic viewpoint : active, passive, and zero moment joints.