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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Dynamic Analysis of Three Snake Robot Gaits

http://hdl.handle.net/2237/27235
http://hdl.handle.net/2237/27235
44bc7386-8573-4472-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 Dynamic_Analysis_of_Three_Snake_Robot_Gaits.pdf (1.9 MB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 74518

en Ariizumi, Ryo

Search repository
Matsuno, Fumitoshi

× Matsuno, Fumitoshi

WEKO 74519

en Matsuno, Fumitoshi

Search repository
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
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
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