1 0 0 0 OA 脚式ロボットの走行制御-動物の運動解析に基づく走行の実現
- 著者
- 池田 貴幸 岩谷 靖 巣瀬 浩一 美多 勉
- 出版者
- 一般社団法人 システム制御情報学会
- 雑誌
- システム制御情報学会論文誌 (ISSN:13425668)
- 巻号頁・発行日
- vol.14, no.5, pp.233-243, 2001-05-15 (Released:2011-10-13)
- 参考文献数
- 16
- 被引用文献数
- 1
In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of kangaroo, time responses of four fundamental quantities are approximated by solutions of first or second order differential equations. Then we propose a control strategy of the robot which realizes these differential equations as controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.
1 0 0 0 工学と芸術の連携を目指した制作演習
- 著者
- 森山 剛 久米 祐一郎 池田 貴幸 浅野 耕平 行谷 時男 木寺 良一 細萱 敦
- 出版者
- Japanese Society for Engineering Education
- 雑誌
- 工学教育 (ISSN:13412167)
- 巻号頁・発行日
- vol.59, no.5, pp.30-36, 2011-09-20
With the background of our university' s advantageous constitution of both art and engineering departments, we have developed a curriculum that educates students with regard to both technological knowledge and artistic capability. In this paper, we introduce an intensive seminar that we have developed for training students' skill of collaboration and communication with people who are from other technical domains. The seminar sets the target to sophomore students who are supposed to have finished general subjects and not to be specialized to each department too much. The students make a small group and work on an assignment of developing an interactive system that requires both technical and artistic skills and finally make a presentation on their works in the classroom.