5 0 0 0 OA 2足歩行ロボットの省自由度構成
- 著者
- 米田 完 玉木 達也 太田 祐介 倉爪 亮
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.21, no.5, pp.546-553, 2003-07-15 (Released:2010-08-25)
- 参考文献数
- 14
- 被引用文献数
- 5 5
Typical human-based biped robot has 12-DOF for its legs, but there may be another approach not to take a model on human, but to design function oriented. To design a practical light-weight biped, reducing a number of DOF is one of the most efficient method. This paper discusses minimum number of DOF for various cases, where 4, 7, 5 is the resultant minimum number of DOF for horizontally composed terrain, uneven terrain with normal leg exchange sequence, uneven terrain with partial leg exchange sequence, respectively. This paper also shows practical designs of bipeds with 5, 8, and 6-DOF. Trial manufactured machines based on these discussions could show good performances on stairs and uneven terrain.
5 0 0 0 OA 4足歩行機械の間欠トロット歩容
- 著者
- 米田 完 飯山 浩幸 広瀬 茂男
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.14, no.6, pp.881-886, 1996-09-15 (Released:2010-08-25)
- 参考文献数
- 14
- 被引用文献数
- 11 11
This paper discusses an algorithm to make quadruped machine walk dynamically and omnidirectionally following a real-time command. To produce a smooth body motion in a high speed walk, we introduce a new gait named “Intermittent trot gait, ” in which four-leg-supporting phase and two-diagonal-leg-supporting phase appear in orders. In this gait, pitching and rolling motion of the body is able to be suppressed to smaller level than that of the other gaits such as pace, bounce, and expanded trot gait, which is an intermediate gait of the crawl and the trot. Because, dynamic effects of the swinging legs are almost canceled each other. To realize the “Intermittent trot gait, ” new algorithms to decide a landing point and to plan a motion of the body are discussed. A landing point is decided by considering an operator command and also a conversion to the standard leg formation. On the other hand, a motion of the body is planned to produce a dynamic stability, and to follow a speed and direction command. By using these algorithms, a mechanical vehicle TITAN VI could walk omnidirectionally, smoothly following a real-time operator command.
3 0 0 0 4足歩行機械の間欠トロット歩容 - 全方向歩行の動的制御 -
- 著者
- 米田 完 飯山 浩幸 広瀬 茂男
- 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.14, no.6, pp.881-886, 1996-09-15
- 参考文献数
- 14
- 被引用文献数
- 10 11
This paper discusses an algorithm to make quadruped machine walk dynamically and omnidirectionally following a real-time command. To produce a smooth body motion in a high speed walk, we introduce a new gait named “Intermittent trot gait, ” in which four-leg-supporting phase and two-diagonal-leg-supporting phase appear in orders. In this gait, pitching and rolling motion of the body is able to be suppressed to smaller level than that of the other gaits such as pace, bounce, and expanded trot gait, which is an intermediate gait of the crawl and the trot. Because, dynamic effects of the swinging legs are almost canceled each other. To realize the “Intermittent trot gait, ” new algorithms to decide a landing point and to plan a motion of the body are discussed. A landing point is decided by considering an operator command and also a conversion to the standard leg formation. On the other hand, a motion of the body is planned to produce a dynamic stability, and to follow a speed and direction command. By using these algorithms, a mechanical vehicle TITAN VI could walk omnidirectionally, smoothly following a real-time operator command.
3 0 0 0 OA 2足歩行機械の3D揺動歩容
- 著者
- 倉爪 亮 米田 完 田中 俊太郎 玉木 達也 太田 祐介 長谷川 勉
- 出版者
- 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.21, no.7, pp.811-818, 2003-10-15 (Released:2010-08-25)
- 参考文献数
- 26
- 被引用文献数
- 1 1
From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.
2 0 0 0 OA 実用的4足歩行機械の開発に向けて
2 0 0 0 OA 光学式変位センサと力センサ
- 著者
- 米田 完 坪内 孝司 大隅 久
- 出版者
- 一般社団法人日本機械学会
- 雑誌
- 日本機械学會誌 (ISSN:00214728)
- 巻号頁・発行日
- vol.111, no.1074, 2008-05-05
1 0 0 0 OA メカナムホイールを使用したロボットの段差踏破
- 著者
- 米田 完 青山 雅規 浦 広幸
- 出版者
- 公益社団法人 日本設計工学会
- 雑誌
- 設計工学 (ISSN:09192948)
- 巻号頁・発行日
- pp.2018.2833, (Released:2020-01-23)
- 参考文献数
- 25
An omnidirectional mobile vehicle created with Mecanum wheels does not easily negotiate stepped terrain, because the small slanted freely moving wheels in the Mecanum wheel rotate at the step edge and cannot obtain a grip sufficient for climbing. We developed two types of driving wheel mechanisms based on the Mecanum wheel. One is a hybrid that combines a larger grouser wheel with a smaller Mecanum wheel with a synchronized peripheral velocity and vertically adjustable central shaft. The other comprises a split Mecanum wheel where the halves shift back and forth. The radius of the grouser wheel hybrid must be carefully designed so that the grouser can produce an adequate grip at a low position for reliable transition to the frictional grip of the Mecanum wheel. Similarly, for the split Mecanum wheel, the horizontal shift distance must be carefully determined so that the grip of the edge of one half is maintained until an adequate grip can be obtained by the other half of the wheel. Experimental robots were built with Mecanum wheels 152mm in diameter to demonstrate both wheel types. These robots showed good performance by negotiating a 100mm step (grouser type) and a 70mm step (split type).
1 0 0 0 2足歩行機械の3D揺動歩容
- 著者
- 倉爪 亮 米田 完 田中 俊太郎 玉木 達也 太田 祐介 長谷川 勉
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.21, no.7, pp.811-818, 2003-10-15
- 参考文献数
- 26
- 被引用文献数
- 4 1
From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.
1 0 0 0 OA メカナムホイールを使用したロボットの段差踏破
- 著者
- 米田 完 青山 雅規 浦 広幸
- 出版者
- 公益社団法人 日本設計工学会
- 雑誌
- 設計工学 (ISSN:09192948)
- 巻号頁・発行日
- vol.55, no.4, pp.263-276, 2020 (Released:2020-04-05)
- 参考文献数
- 25
An omnidirectional mobile vehicle created with Mecanum wheels does not easily negotiate stepped terrain, because the small slanted freely moving wheels in the Mecanum wheel rotate at the step edge and cannot obtain a grip sufficient for climbing. We developed two types of driving wheel mechanisms based on the Mecanum wheel. One is a hybrid that combines a larger grouser wheel with a smaller Mecanum wheel with a synchronized peripheral velocity and vertically adjustable central shaft. The other comprises a split Mecanum wheel where the halves shift back and forth. The radius of the grouser wheel hybrid must be carefully designed so that the grouser can produce an adequate grip at a low position for reliable transition to the frictional grip of the Mecanum wheel. Similarly, for the split Mecanum wheel, the horizontal shift distance must be carefully determined so that the grip of the edge of one half is maintained until an adequate grip can be obtained by the other half of the wheel. Experimental robots were built with Mecanum wheels 152mm in diameter to demonstrate both wheel types. These robots showed good performance by negotiating a 100mm step (grouser type) and a 70mm step (split type).
1 0 0 0 2A1-1F-F5 2 足歩行機械の 3D 揺動歩容
- 著者
- 田中 俊太郎 倉爪 亮 長谷川 勉 米田 完 玉木 達也
- 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
- 巻号頁・発行日
- vol.2003, 2003
- 被引用文献数
- 1
2足歩行機械の安定動歩行を実現するために, 簡単な単一質点モデルで計算された重心軌道を多質点モデルを用いた収束計算により修正することで, 動的安定点に近い ZMP 軌道, 重心軌道を同時に得る手法を提案する。
1 0 0 0 OA 6足歩行ロボットの省自由度構成
- 著者
- 米田 完
- 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.33, no.2, pp.124-132, 2015 (Released:2015-04-15)
- 参考文献数
- 7
- 被引用文献数
- 1
This paper discusses a configuration of six legged robot, considering a relationship between number of actuators and number of locomotion functions. Mechanical configurations are classified by number of body, relative moving DOF of bodies, moving DOF of legs against the body. As for the function, DOF counting method by five independent functions is proposed. The functions are locomotion, terrain adaptability, relative horizontal positioning of swing legs, mobility of body independent to the leg position, horizontal inner force distribution of supporting legs. Introducing nine various style practical examples, the equality of mechanical actuation DOF and functional DOF count is verified.
1 0 0 0 粉体の変形特性を利用したハイグリップクローラの開発
- 著者
- 米田 完 太田 裕介 広瀬 茂男
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.15, no.8, pp.1188-1193, 1997-11-15
- 参考文献数
- 6
- 被引用文献数
- 4 12
It is desirable to have a mobile robot which can move and perform various tasks on irregular terrain, but current systems are not reliable or adaptable enough for practical use. A traditional method for climbing stairs is to use knobbed tires or tracks which can grip the edge of the stairs. But with this method usually only one knob on each side of the vehicle grips the stairs because the spacing between the knobs does not necessarily coincide with the distance between steps. In this thesis, a new idea crawler is developed for the stair-climbing. Blocks are attached to the face of the crawler-belt and can change shape to match the edge of the steps. Therefore, a large friction force is obtained by the soft deformation of the blocks at every point along the belt. After experimenting with various types of substances, blocks filled with powder were chosen for their desirable deformation characteristics. The results of this stair-climbing experiment prove that this crawler has better reliability than other crawlers when ascending and descending stairs. Also, this crawler can change its posture when climbing stairs or obstacles and this is also used to increase the turning efficiency of the crawler.
1 0 0 0 OA 脚移動
1 0 0 0 OA 不整地移動の将来展望
1 0 0 0 不整地における歩行機会の静的安定性評価基準
- 著者
- 広瀬 茂男 塚越 秀行 米田 完
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.16, no.8, pp.1076-1082, 1998-11-15
- 被引用文献数
- 10 23
We discuss some suitable stability margin concepts for walking robots which are expected to walk around on irregular terrains. Several stability margin ideas have been proposed before, but those can be roughly divided into three kinds.We came to the conclusion that a stability margin concept based on energy considerations is the most practical to adopt and that its validity could be recognized through simple experiments. But the existing energy stability margin is inadequate for practical use because this margin varies with the weight of the robot which can't affect its resistance to tumbling caused by slipping from steps or the sudden stop. Therefore, we'll propose an improved one here, called the normalized energy stability margin, the NE stability margin for short. Considering this margin, we'll introduce a novel tool called the SNE contour which connects the points on the slope which have the same NE stability margin, so as to derive a stable gait for walking robots. In the final part of this paper, we focus on the features of the SNE contour which shed new light on the solution for the stable posture.