The efficacy of the neck and tail of miniature dinosaur-like robot TITRUS-III
The efficacy of the neck and tail of miniature dinosaur-like robot TITRUS-III
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微型仿恐龙机器人TITRUS-III颈部和尾部的功效
DOI：
10.1109/irds.2002.1041661
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
K. Takita;T. Katayama;S. Hirose
本文介绍了仿人机器人TITRUS的基本概念和微型原型机器人TITRUS-III的机构设计。TITRUS就是基于这一理念来实现一个实用的移动的工作平台。一种解释用两种物理模型来说明其可用性：粒子系统和刚体系统TITRUS的特点是（1）通过在机器人行走时使用颈部和尾部作为主动阻尼器来实现高动态稳定性，（2）尾部站立，构成稳定的支撑三角，使机器人能够稳定工作;使其能够通过将操纵器应用于颈部来完成各种任务。最后，基本的步行实验，以检查颈部和尾部的可用性TITRUS-III的报告。
In this paper the fundamental concepts of the dinosaur-like robot called TITRUS and the mechanism design of the miniature prototype robot TITRUS-III are explained. TITRUS is based on the concept to realize a practical mobile working platform. ne explanation addresses its availability with two physical models: a particle system and a rigid body system The features of TITRUS are (1) realizing high dynamic stability by using a neck and a tail as an active dumper when the robot walks, (2) standing with the tail to compose a stable supporting triangle so that the robot can work stably and (3) enabling it to do various tasks by applying a manipulator to the neck. Finally, the fundamental walking experiments to examine usability of the neck and tail on TITRUS-III are reported.