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6 0 0 0 OA 1A1-A08 LCPに基づく接触力計算を用いたヒューマノイドロボットの力学シミュレーション(ヒューマノイド)

著者
中岡 慎一郎 服部 静子 金広 文男 梶田 秀司 比留川 博久
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 2007 (ISSN:24243124)
巻号頁・発行日
pp._1A1-A08_1-_1A1-A08_4, 2007-05-11 (Released:2017-06-19)
This paper describes a LCP-based method for calculating contact forces in dynamics simulation of humanoid robots. The method is based on the algorithm proposed by Kokkevis, and we propose additional procedures that make the algorithm more practical in the reality and numerical stability. The simulation system is verified by experiments using humanoid robot HRP-2, and the result shows the efficiency and validity of the method.

2 0 0 0 OA 2A1-J02 旋回曲率を操作可能な台車による2脚ロボットのローラーウォーク(特殊移動ロボット・メカトロニクス)

著者
熊谷 正朗 玉田 薫
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 2007 (ISSN:24243124)
巻号頁・発行日
pp._2A1-J02_1-_2A1-J02_4, 2007-05-11 (Released:2017-06-19)
被引用文献数
1
The Roller-Walk is one of methods for locomotion of walking robots. It requires only passive wheel(s) on each of legs, and periodic motions of legs generates driving force. Successful results were shown in quadruped robot, and some trials had also been carried out on biped robot. The biped roller-walk had a problem in following trajectories because its 'skate' tends to go straight while trajectory curves. This paper proposed one of successful method for biped roller-walk. The robot use a special type of trucks whose curvature can be changed only by inclining the body of the truck. The experiments showed effectiveness of our mechanism in roller-walk on straight, right turn, and left turn trajectories.