Dept. of Interdisciplinary Space Science

森 治

モリ オサム  (Osamu Mori)

基本情報

所属
国立研究開発法人宇宙航空研究開発機構 宇宙科学研究所 教授
総合研究大学院大学 先端学術院 宇宙科学コース 教授
青山学院大学 大学院理工学研究科 理工学専攻
東京工業大学 環境・社会理工学院 特定助教
学位
博士(工学)(2002年9月 東京工業大学)

研究者番号
30313331
ORCID ID
 https://orcid.org/0000-0001-9441-3356
J-GLOBAL ID
200901066812441450
researchmap会員ID
1000279275

主要な論文

 152
  • 山脇 輔, 森 治, 小俣 透
    日本ロボット学会誌 23(2) 213-219 2005年3月15日  査読有り
    We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. By mounting it on a crawler mechanism, this paper proposes a parallel mechanism mobile robot. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as carrying an object by making use of its shape and getting over a bump by control of its center of gravity or zmp. In general, for a crawler robot to get over a vertical bump, friction is necessary in the vertical direction of the bump. The proposed sequence of getting over a bump does not rely on friction. Furthermore, cooperation of two or more such robots gains functionalities such as forming three-dimensional structures. Using two robots, we verify that the 4R robot can elevate the 5R robot, which enables the latter to reach a certain height in which it cannot alone. We analyze the statics of this motion to evaluate the necessary joint torque of the 4R robot.

MISC

 195

書籍等出版物

 5

講演・口頭発表等

 698

共同研究・競争的資金等の研究課題

 19

産業財産権

 33