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A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds
http://hdl.handle.net/10258/00008608
http://hdl.handle.net/10258/00008608b58624bf-d428-4ddf-bf08-762cdf313be6
名前 / ファイル | ライセンス | アクション |
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65_23.pdf (945.4 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||||||||||||||
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公開日 | 2016-03-25 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | en | |||||||||||||||||
タイトル | A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds | |||||||||||||||||
言語 | ||||||||||||||||||
言語 | eng | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Mobile robot | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Legged robot | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Wetland | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Environmental survey | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Robot motion | |||||||||||||||||
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 | departmental bulletin paper | |||||||||||||||||
アクセス権 | ||||||||||||||||||
アクセス権 | open access | |||||||||||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||||
著者 |
花島, 直彦
× 花島, 直彦
WEKO
5812
× 劉, 群坡× 梶原, 秀一
WEKO
39396
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室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||
花島 直彦(HANAJIMA Naohiko) | ||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html | ||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||
梶原 秀一(KAJIWARA Hidekazu) | ||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000059_ja.html | ||||||||||||||||||
抄録 | ||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||
内容記述 | This paper addresses a new design of a four-legged mobile robot with a double-spiral mobile architecture. The double-spiral mobile architecture has been proposed with the intention of use for environmental surveys in wetlands, where reed-like plants grow densely. It consists of two pairs of spirals and one mobile robot. Each pair of spirals plays the role of footholds for the mobile robot. By traveling at a higher place from the ground, the robot can avoid strong resistance force from the dense and hard-stemmed plants. In addition, the spirals intermediate between the robots and the muddy ground to avoid sinking. The proposed leg mechanism does not have any vertical movement. It contributes to energy saving in the robot. Also it provides the arbitrary motion of the body platform while the legs grip the spirals tightly. We derive the robot’s kinematics and statics and show the validity of the design mathematically. | |||||||||||||||||
言語 | en | |||||||||||||||||
書誌情報 |
ja : 室蘭工業大学紀要 en : Memoirs of the Muroran Institute of Technology 巻 65, p. 23-29, 発行日 2016-03-25 |
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注記 | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | 特集 : The Papers Presented at the Symposium on Mechanical Engineering, Industrial Engineering, and Robotics 2015 (MIER2015) held at Muroran, Hokkaido, Japan on 29 - 30 May 2015 | |||||||||||||||||
言語 | ja | |||||||||||||||||
出版者 | ||||||||||||||||||
言語 | ja | |||||||||||||||||
出版者 | 室蘭工業大学 | |||||||||||||||||
日本十進分類法 | ||||||||||||||||||
主題Scheme | NDC | |||||||||||||||||
主題 | 548 | |||||||||||||||||
ISSN | ||||||||||||||||||
収録物識別子タイプ | PISSN | |||||||||||||||||
収録物識別子 | 13442708 | |||||||||||||||||
書誌レコードID | ||||||||||||||||||
収録物識別子タイプ | NCID | |||||||||||||||||
収録物識別子 | AA11912609 | |||||||||||||||||
権利 | ||||||||||||||||||
言語 | ja | |||||||||||||||||
権利情報 | © 2016 室蘭工業大学 | |||||||||||||||||
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 | |||||||||||||||||
フォーマット | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | application/pdf |