著者

田中 颯樹 増田 容一 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.305-312, 2019 (Released:2019-04-16)

参考文献数

15

被引用文献数

1

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This paper is concerned with nonlinear analysis of a 1-d.o.f. vertical hopping robot, composed of its body, foot and a DC motor with crank mechanism. We show that its hopping motion under a constant voltage converges into a stable limit cycle, through physical experiments and numerical simulations. We then clarify this stabilization mechanism based on a simplified mathematical model, by showing that the negative torque-velocity correlation (weakness) of DC motors plays as a feedback law for stabilization. We also show that the limit cycles exhibit period-doubling bifurcation as the applied voltage increases, and the corresponding bifurcation diagram is affected by the weakness parameter of the DC motor.

著者

田中 颯樹 増田 容一 石川 将人

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.4, pp.305-312, 2019

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<p>This paper is concerned with nonlinear analysis of a 1-d.o.f. vertical hopping robot, composed of its body, foot and a DC motor with crank mechanism. We show that its hopping motion under a constant voltage converges into a stable limit cycle, through physical experiments and numerical simulations. We then clarify this stabilization mechanism based on a simplified mathematical model, by showing that the negative torque-velocity correlation (weakness) of DC motors plays as a feedback law for stabilization. We also show that the limit cycles exhibit period-doubling bifurcation as the applied voltage increases, and the corresponding bifurcation diagram is affected by the weakness parameter of the DC motor.</p>

著者

増田 容一

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.38, no.10, pp.920-925, 2020 (Released:2021-01-14)

参考文献数

22

著者

増田 容一 石川 将人

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2018 (ISSN:24243124)

巻号頁・発行日

pp.1P1-F15, 2018 (Released:2018-12-25)

被引用文献数

1

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In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.

著者

増田 容一 浪花 啓右 石川 将人 大須賀 公一

出版者

システム制御情報学会

雑誌

システム制御情報学会研究発表講演会講演論文集

巻号頁・発行日

vol.62, 2018-05-16