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| Presentation | 2012-10-05 14:40 A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis Kazuma Komoda, Hiroaki Wagatsuma (Kyutech)  NC2012-56 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | The displacement calculation is necessary for detail analyses of movements of planar manipulators, and the Jacobian matrix is conventionally used for the calculation of position, angular and torque displacements. We have been investigated the potential and the extension of the Theo Jansen mechanism, which represent a smooth motion of the animal locomotion kinematically, and we found the possibility of what the mechanism is decomposed into parts of four-link planar manipulators, as subspaces of the original Jacobian. In our analyses, the decomposition is examined to be able to compose the whole system again, which is approximately fit in the original Jacobian. This may contributes a further extension of the Theo Jansen mechanism systematically, such as trot and climbing types. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Brain-inspired Robot / Kinematic Constraint / Multibody Dynamics / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 112, no. 227, NC2012-56, pp. 115-120, Oct. 2012. | |
| Paper # | NC2012-56 | |
| Date of Issue | 2012-09-27 (NC) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NC2012-56 |
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| Conference Information | |
| Committee | NC |
| Conference Date | 2012-10-04 - 2012-10-05 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kyushu Institute of Technology (Wakamatsu Campus) |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Implementation of neurocomputing, modeling for human science, and general |
| Paper Information | |
| Registration To | NC |
| Conference Code | 2012-10-NC |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A Displacement Calculation of Theo Jansen Mechanism by Piecewise Jacobians to Enhance a Systematic Robust Stability Analysis |
| Sub Title (in English) | |
| Keyword(1) | Brain-inspired Robot |
| Keyword(2) | Kinematic Constraint |
| Keyword(3) | Multibody Dynamics |
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| 1st Author's Name | Kazuma Komoda |
| 1st Author's Affiliation | Kyushu Institute of Technology (Kyutech) |
| 2nd Author's Name | Hiroaki Wagatsuma |
| 2nd Author's Affiliation | Kyushu Institute of Technology (Kyutech) |
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| Speaker | Author-1 |
| Date Time | 2012-10-05 14:40:00 |
| Presentation Time | 25 minutes |
| Registration for | NC |
| Paper # | NC2012-56 |
| Volume (vol) | vol.112 |
| Number (no) | no.227 |
| Page | pp.115-120 |
| #Pages | 6 |
| Date of Issue | 2012-09-27 (NC) |
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