著者

御手洗 毅 山浦 弘 小野 京右

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.723, pp.3576-3583, 2006-11-25 (Released:2011-03-04)

参考文献数

5

被引用文献数

1

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Rhönrad is a gymnastic equipment that is interesting in terms of dynamics and control. We presented an analytical model and governing basic equations of the Rhönrad mechanism with a human body model. Then, a control method named as Synchronous control was proposed. In this control method, the human body moves synchronously with the rotation angle of the Rhönrad. The motion caused by Synchronous control was numerically analyzed. After that, a standalone miniature Rhonrad robot that consisted of three gyro sensors, an actuator, a micro-computer and batteries was manufactured. The validities of the Synchronous control were shown by experiments with the robot.