双足行走与任务执行机器人的研制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.973366

Y. Ota, K. Yoneda, Yusuke Muramatsu, S. Hirose

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引用次数: 12

摘要

为了使用独立的机构执行任务和移动，机器人需要具有多个自由度。结果，机器人变得沉重，失去了机动性。本文描述了一种减小自由度机器人的有效设计方法。研制了一种高任务、高运动性能的八自由度双足构型机器人。在该机器人中，通过在增加自由度的重量增加和减少自由度的可操控性损失之间找到平衡，在不影响其机动性的情况下尽可能地减小自由度。

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Development of walking and task performing robot with bipedal configuration

In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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