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全文: "四方修"
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  • 交通科学
    2020年 50 巻 2 号 39-62
    発行日: 2020年
    公開日: 2020/04/15
    研究報告書・技術報告書 オープンアクセス
  • 中久喜 一雄, 山藤 和男
    日本機械学会論文集 C編
    1993年 59 巻 559 号 850-854
    発行日: 1993/03/25
    公開日: 2008/02/26
    ジャーナル フリー
    In this study, the authors elaborated a robot composed of three serial links with curved contours. The outer contour of each link is made of a combination of large and small curvatures, and the links are connected serially. The outer two links of the robot have the same configuration although the middle one is different. A DC servomotor is installed in each of the outer two links, which can rotate freely round the connected joint. Then the three serial links can constitute a part of a large arc at a certain angle by controlling the motion of the outer two links. This robot could perform several actions using dynamic interference forces between the links. In the previous study, the robot succeeded in standing up from a prone position on the floor by inducing large vibration on all links by swinging the outer links. This study describes three types of motion performed by the robot. The first motion is a falling down and standing up action. Simulation and experimental results concerning this motion are given. The robot could fall down without shock by forming a part of a large arc and stand up by virtue of dynamic interference force. The second motion is locomotion by peristaltic motion, in which the robot accomplished a locomotion velocity of 220 mm/min. The third one is ascending a step. A step of 120 mm height was climbed over by this robot, using initial potential energy when it fell down from an upright position.
  • 金井 宏樹, 山藤 和男, 藤本 浩志
    日本機械学会論文集 C編
    1992年 58 巻 549 号 1474-1479
    発行日: 1992/05/25
    公開日: 2008/02/26
    ジャーナル フリー
    This paper describes the development concept, control methods and experimental results on the stabilization and walking control of a unique biped robot. This walking robot constits of two legs, pivoted upper and lower bodies composed of four basic modules and double controlling arms suspended from the upper body. Each leg forms a single link and its sole is made up of a portion of a sphere. In order to stabilize the posture of the robot, a feedback control method based on the compound center of gravity among the bodies, the controlling arms and the legs was applied. Postural stability of the robot in the pitch and roll directions was realized. Furthermore, we succeeded in producing a walking motion by controlling the legs according to the posture of the robot.
  • 中久喜 一雄, 山藤 和男, 四方 修
    日本機械学会論文集 C編
    1992年 58 巻 555 号 3299-3306
    発行日: 1992/11/25
    公開日: 2008/02/26
    ジャーナル フリー
    The authors developed several kinds of robots having a smaller number of actuators than of links. Motion control of these robots was successfully accomplished using dynamic interference forces. For example, we developed a swing and mobile robot constituted of pivoted double-link arms and one motor. This robot could shift from one horizontal bar to an another by utilizing vibrational excitation. In this study, we elaborated a robot composed of three serial links with a curved contour and made it perform several dynamic actions. The outer contour of each link has a large curvature, and the links are connected serially. The outer two links of the robot have the same configuration although the center one is different. Two DC servomotors are installed in the outer two links. They can rotate freely around the connected joints and constitute a part of a large arc at a certain angle by controlling the motion of the outer two links. This robot can induce large vibration on all links by swinging the outer two links while lying on the floor and finally bringing itself to a standing position. On the other hand, the robot can lie down from a standing posture without sustaining a shock on impact. The robot can perform actions like those of young children on the floor. In this paper, we mainly report the concept of the robot, the simulation procedure and experimental results for the standing-up action.
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