Understanding of Falling Cat Phenomenon and Realization by Robot

被引：3

作者：

Kawamura, Takashi ^{[1
]}

机构：

[1] Shinshu Univ, Interdisciplinary Grad Sch Sci & Technol, 3-15-1 Tokida, Ueda, Nagano 3868567, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2014年 / 26卷 / 06期

关键词：

principle of cat-turn motion; self-righting of a cat; robotic cat; 3D posture conversion; rubber actuator;

D O I：

10.20965/jrm.2014.p0685

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The movement of live cat righting itself in midair, is investigated analytically and experimentally. The objective of the author is to develop a robot that lands upright on its feet like a cat. Interestingly, explanations in physics and dynamics textbooks that dealing with feline the self-righting remain contradictory and ambiguous. This is analyzed based on the law of conservation of angular momentum using a cat model. A robotic cat was then developed to turn in mid air. The robot righted itself completely after performing a 180 degrees turn in the air.

引用

页码：685 / 690

页数：6

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