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高剛性受動関節を有する閉ループ柔軟カタパルトと遊泳ロボットへの応用
https://nitech.repo.nii.ac.jp/records/5480
https://nitech.repo.nii.ac.jp/records/548009704f28-6f88-4375-bcdc-aaf17a96e3af
名前 / ファイル | ライセンス | アクション |
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本文_fulltext (1.6 MB)
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Copyright 社団法人 日本ロボット学会
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2013-06-25 | |||||
タイトル | ||||||
タイトル | 高剛性受動関節を有する閉ループ柔軟カタパルトと遊泳ロボットへの応用 | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | コウゴウセイ ジュドウ カンセツ オ ユウスル ヘイループ ジュウナン カタパルト ト ユウエイ ロボット ヘノ オウヨウ | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | A Robotic Catapult based on the Closed Elastica with a High Stiffness Endpoint and Its Application to Swimming Tasks | |||||
著者 |
山田, 篤史
× 山田, 篤史× 渡, 正充× 望山, 洋× 藤本, 英雄 |
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著者別名 | ||||||
姓名 | Yamada, Atsushi | |||||
著者別名 | ||||||
姓名 | Fujimoto, Hideo | |||||
書誌情報 |
日本ロボット学会誌 巻 27, 号 10, p. 1144-1153, 発行日 2009-12-15 |
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出版者 | ||||||
出版者 | 社団法人 日本ロボット学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID(NCID) | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, we propose a new robotic catapult with a high stiffness endpoint. The conventional robotic catapults based on the closed elastica are the robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical closed elastic catapult, the two ends of an elastic strip are fixed to a free joint and an active joint, respectively. Here we found that by adding only the high stiffness at the free joint, compared to the conventional type, more elastic energy can be stored and release surely without loss of a characteristic of generating impulsive motion repeatedly. By utilizing the proposed robotic catapult based on the closed elastica with a high stiffness endpoint, we develop a novel swimming robot which can swim not only continuously but briskly from a stationary state. | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |