| Item type |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2022-02-03 |
| タイトル |
|
|
タイトル |
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| キーワード |
|
|
言語 |
en |
|
主題 |
Biologically-inspired robots |
| キーワード |
|
|
言語 |
en |
|
主題 |
redundant robots |
| キーワード |
|
|
言語 |
en |
|
主題 |
search and rescue robots |
| キーワード |
|
|
言語 |
en |
|
主題 |
snake robot |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
journal article |
| 著者 |
Takemori, Tatsuya
Tanaka, Motoyasu
Matsuno, Fumitoshi
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
A snake robot performs diverse motions. To realize a wide range functions in a complex environment, it is necessary to transition between various motions suited to each environment. In this article, we propose a method of transitioning the motion of a snake robot across different environments to expand the application environment of the robot. We first find that the motion at the connection point between two motions must coincide with the tangential movement during motion transition across different environments. We then design a gait called the circular pedal wave. This circular pedal wave allows a hoop-passing motion in which the whole body moves as if it is passing through a virtual hoop fixed in space in sequence from its head through combination with a proposed shift part. The hoop-passing motion allows motion transition across different environments. We propose three application examples of this hoop-passing motion, namely passing through a hole in a wall, entering an underfloor, and attaching to a ladder. We report on experiments conducted to verify the effectiveness of the proposed method and to realize the described motions. |
| 書誌情報 |
en : IEEE Transactions on Robotics
巻 37,
号 5,
p. 1696-1711,
発行日 2021-10
|
| 出版者 |
|
|
出版者 |
IEEE |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
15523098 |
| DOI |
|
|
関連タイプ |
isVersionOf |
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
10.1109/TRO.2021.3063438 |
| 権利 |
|
|
権利情報 |
(c) 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. |
| 関連サイト |
|
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
https://doi.org/10.1109/TRO.2021.3063438 |
| 著者版フラグ |
|
|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
HoopPassing_ver7.3_20210203_submit (4.8 MB)
