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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/8461

タイトル: Gait Design by Graph Coloring for Robots That Have Legs on Their Faces
著者: MIKAMI, Sadayoshi
Fukuda, Tomohisa
SUZUKI, Sho'ji
アブストラクト: This paper proposes a gait design method for robots that have legs on their faces. The method is based on a graph coloring problem in the theory of graphs. Representing a structure of a robot as a graph on a sphere, it is shown that the number of phases of movements needed for a leg is given as a minimum chromatic number of that graph. Also the allocation of an initial phase for each leg is given by a specific coloring pattern. For the demonstration of an actual hardware construction, we show a 12 legged square prismatic robot in which all the legs are driven by a row of gears.
研究業績種別: 国際会議/International Conference
資料種別: Conference Paper
査読有無: あり/yes
単著共著: 共著/joint
発表雑誌名,発表学会名など: 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
開始ページ: 116
終了ページ: 120
年月日: 2015年7月8日
出版社: IEEE
出現コレクション:三上 貞芳


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