Shigeo Hirose

How to optimize the slope walking motion by the quadruped walking robot

Reduction of the energy consumption is one of the most important problems to utilize quadruped walking robots for various works on rugged terrain. The authors have studied basic strategy to achieve high energy efficiency when the quadruped walking robot do the motion essentially requires positive power by the analysis of body rising motion. This paper discusses the energy efficiency of the slope walking motion by the quadruped walking robot. First, we investigate the walking posture in consideration of ideal actuator characteristics where the robot consumes few negative powers at each joint which causes the main energy loss of the walking robot. Then, we investigate optimal walking posture in consideration of DC motor characteristics by the full search of three gait parameters which define the crawl gait. Furthermore, we derive the optimal walking motion by the optimization of three gait parameters which are kept constant during one cycle gait and instantaneous parameters such as body velocity and supporting forces changed at each moment simultaneously. Graphical Abstract

Crank Tether Thruster : A Thruster Mechanism for Teleoparated Robots

Article / Book Information 論題(和文) ケーブル牽引を補助するCrank Tether Thruster の開発 Title(English) Crank Tether Thruster : A Thruster Mechanism for Teleoparated Robots 著者(和文) 古村博隆, 広瀬茂男, 山田浩也, 遠藤玄, 鈴森康一 Authors(English) Hirotaka Komura, Shigeo Hirose, Hiroya Yamada, Gen Endo, Koichi Suzumori 出典(和文) ロボティクス・メカトロニクス講演会2016講演概要集, Vol. , No. , 2A2-08a2 Citation(English) Proceedings of the 2016 JSME Conference on Robotics and Mechatronics, Vol. , No. , 2A2-08a2 発行日 / Pub. date 2016, 6