Proceedings of the 26th SICE System Integration Division Annual Conference
巻, 号, ページ
出版年月
2025年12月
出版者
和文:
公益社団法人 計測自動制御学会
英文:
The Society of Instrument and Control Engineers
会議名称
和文:
第26回計測自動制御学会 システムインテグレーション部門講演会
英文:
the 26th SICE System Integration Division Annual Conference
開催地
和文:
広島県
英文:
ファイル
アブストラクト
Mammalia entertainment robots are popular due to their friendly appearance; however, examples of robots that walk
solely on their legs are limited because of high power consumption. In this study, we propose a mammal electric quadruped
robot that employs Gravitationally Decoupled Actuation (GDA) to enable high-speed locomotion while minimizing power
consumption. For GDA evaluation, a one-legged test machine was designed and fabricated based on the results of a dynamics
simulator. In designing the monopod testing machine, we proposed a space-saving design and lightweighting techniques for
parts, taking into account the characteristics of the GDA that requires numerous fixed components.
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