Journal of Computer Science & Systems Biology

Kazuma Komoda

Publications

• Research Article
  Determinant Analysis to Detect the Singularity of the Extended Theo Jansen Mechanism in the Phase-Rotation-Amplitude Parameter Space
  Author(s): Kazuma Komoda and Hiroaki WagatsumaKazuma Komoda and Hiroaki Wagatsuma
  
  Legged robots have a potential of being a walking machine on irregular ground. Eleven-bar linkages, Theo Jansen mechanism reproduces a smooth locomotion pattern as gait. Parallel motions have widely used in the heavy machinery and recently highlighted in a model of biological motions. The close-loop linkage simply provides a designed end-effector trajectory, whereas the trajectory is considered to be less modifiable due to the singularity problem. In the present study, the singularity on the modified Theo Jansen mechanism was addressed by introducing the parametric orbit as a new freedom point in the joint center, and analyzed its kinematics and dynamics by using multibody dynamics (MBD). The extendability of the mechanism in the viewpoint of flexibility in the gait trajectory was clearly demonstrated in the numerical simulation, providing new functional g.. Read More»
  DOI: 10.4172/jcsb.1000215

  Abstract PDF