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Dynamic Analysis of Three Snake Robot Gaits
http://hdl.handle.net/2237/27235
http://hdl.handle.net/2237/2723544bc7386-8573-4472-adf5-c176b8c972f6
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Dynamic_Analysis_of_Three_Snake_Robot_Gaits.pdf (1.9 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2018-01-09 | |||||
| タイトル | ||||||
| タイトル | Dynamic Analysis of Three Snake Robot Gaits | |||||
| 言語 | en | |||||
| 著者 |
Ariizumi, Ryo
× Ariizumi, Ryo× Matsuno, Fumitoshi |
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| 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 | |||||
| 権利 | ||||||
| 言語 | en | |||||
| 権利情報 | “© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Snake robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Sidewinding locomotion | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Sinus-lifting motion | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Energy efficiency | |||||
| 抄録 | ||||||
| 内容記述 | In the present paper, a dynamic analysis is presented, comparing three snake-like robot gaits: lateral undulation, sidewinding locomotion, and sinus-lifting motion. To simplify calculations, sidewinding locomotion and sinus-lifting motion are considered planar movements. Vertical movements are assumed to be small but play a critical role in change where contacts are made. Thus, the normal forces acting on grounded links and the torques applied to pitch joints can be calculated by solving equilibrium equations. The tradeoff between locomotion speed and energy efficiency is studied for all three gaits, at eight different environmental settings distinguished by friction coefficients. Simulation results reveal that sinus-lifting motion and sidewinding locomotion are generally more energy-efficient gaits than is lateral undulation. More specifically, if the anisotropy in friction is large enough, sinus-lifting motion is the most energy-efficient gait; otherwise, sidewinding locomotion is more efficient. However, there are some critical speeds at which the most efficient gait changes, in some environmental settings. | |||||
| 言語 | en | |||||
| 内容記述タイプ | Abstract | |||||
| 出版者 | ||||||
| 言語 | en | |||||
| 出版者 | IEEE | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| 出版タイプ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1109/TRO.2017.2704581 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 1552-3098 | |||||
| 書誌情報 |
en : IEEE Transactions on Robotics 巻 33, 号 5, 発行日 2017-10 |
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| 著者版フラグ | ||||||
| 値 | author | |||||
| URI | ||||||
| 識別子 | http://doi.org/10.1109/TRO.2017.2704581 | |||||
| 識別子タイプ | DOI | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/27235 | |||||
| 識別子タイプ | HDL | |||||
