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Volume 2, Issue 2
Displaying 1-12 of 12 articles from this issue
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Hirochika INOUE1984 Volume 2 Issue 2 Pages 87-90
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Satoshi HASHINO1984 Volume 2 Issue 2 Pages 91-96
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Tsukasa OGASAWARA1984 Volume 2 Issue 2 Pages 97-103
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Shunji MOHRI, Seiji HATA1984 Volume 2 Issue 2 Pages 104-109
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Michiharu TSUKAMOTO1984 Volume 2 Issue 2 Pages 110-116
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Hiroharu SUDA1984 Volume 2 Issue 2 Pages 117-121
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Toshio KOGIMA1984 Volume 2 Issue 2 Pages 122-129
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Kazuharu SAITO1984 Volume 2 Issue 2 Pages 130-135
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Tamio ARAI1984 Volume 2 Issue 2 Pages 136-141
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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Makoto KANEKO, Minoru ABE, Susumu TACHI1984 Volume 2 Issue 2 Pages 142-150
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSAll multi-legged locomotion machines that do not need any dynamic balance control can be classified into several levels functionally. The authors define (i) two dimensional walking, (ii) to maintain the body horizontal on rough terrain, (iii) to keep the absolute height of main body constant as the minimum walking functions of multi-legged locomotion machines.
By the way, how many active degrees of freedom are necessary and sufficient to realize the above functions? Although the consideration of degrees of freeedom seems to be fundamental in developing multi-legged locomotion machines, this problem has not yet been studied thoroughly.
From this point of view, the active degrees of freedom are examined in this paper using a four-legged machine which offers the minimum number of legs capable of keeping static stability. Resultantly it is shown that“six”is the necessary and sufficient number of active degrees of freedom to realize the above functions.View full abstractDownload PDF (4865K) -
Heng-LI GUO, Masahiko YACHIDA, Saburo TSUJI1984 Volume 2 Issue 2 Pages 151-157
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
JOURNAL FREE ACCESSIn order to measure the 3-D positions of wire tips a new vision system has been developed. The new method does not use any special method of projecting light. Distance information of any visible point on wire can be obtained from images of wires and their shadows on a working table projected from a point light source. A theory is presented to determine the 3-D geometry of wires from the image taken by a TV-camera with prior knowledge on arrangement of the environment: the camera, the table and the lighting source. Wires and their shadows are extracted as strips from an input image (a 256 by 256 4 bit digital picture) by applying thresholding and thinning operators. Correspondence between each wire and its shadow in image is established by examining coincidence of lines from end points of the strips to the light source in the image plane. Thus, 3-D positions of wires can be determined from the geometry of the environment. A vertically mounted camera and a horizontal table are used for the experiment, and the position errors for fine wires is less than one percent of the size of sight.
In this paper, we describe the principle, the procedure and calculation of the measurement. Finally, the experimental results are shown and discussions are given.View full abstractDownload PDF (3403K) -
Noboru SUGIMOTO1984 Volume 2 Issue 2 Pages 158-163
Published: April 30, 1984
Released on J-STAGE: August 25, 2010
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