{"id":565,"date":"2021-07-21T15:40:25","date_gmt":"2021-07-21T06:40:25","guid":{"rendered":"http:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=565"},"modified":"2022-04-04T13:46:00","modified_gmt":"2022-04-04T04:46:00","slug":"koeda","status":"publish","type":"page","link":"https:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=565","title":{"rendered":"\u30e1\u30f3\u30d0\u30fc | \u5c0f\u679d \u6f64\u6a39"},"content":{"rendered":"<h5><strong>\u5c40\u6240\u7684\u306a\u5f84\u53ef\u5909\u6a5f\u69cb\u3092\u6301\u3064\u8eca\u8f2a\u30ed\u30dc\u30c3\u30c8\u306e\u958b\u767a<\/strong><\/h5>\n<h5><strong>Development of a robotic wheel which locally transforms its diameter<\/strong><\/h5>\n<p><strong>\u00a0<\/strong>\u30ed\u30dc\u30c3\u30c8\u306e\u9678\u4e0a\u79fb\u52d5\u306b\u3064\u3044\u3066\uff0c\u305d\u306e\u6a5f\u69cb\u306f\u4e00\u822c\u306b\uff0c\u811a\u578b\u3068\u8eca\u8f2a\u578b\u306e2\u7a2e\u985e\u306b\u5206\u985e\u3055\u308c\u308b\u3002\u811a\u578b\u6a5f\u69cb\u306f\u9ad8\u3044\u5bfe\u5730\u9069\u5fdc\u6027\u3092\u6301\u3064\u4ee3\u308f\u308a\u306b\uff0c\u305d\u306e\u30b7\u30b9\u30c6\u30e0\u306f\u8907\u96d1\u306b\u306a\u3063\u3066\u3057\u307e\u3046\u3002\u3053\u306e\u4e00\u65b9\u3067\u8eca\u8f2a\u578b\u6a5f\u69cb\u306f\uff0c\u79fb\u52d5\u306e\u9ad8\u901f\u6027\u30fb\u52b9\u7387\u6027\u306b\u512a\u308c\u308b\u304c\uff0c\u4e0d\u6574\u5730\u9762\u3067\u306e\u79fb\u52d5\u306f\u56f0\u96e3\u3067\u3042\u308b\u3002<\/p>\n<p>\u305d\u3053\u3067\u3053\u306e\u4e21\u8005\u306e\u3046\u3061\u7279\u306b\u8eca\u8f2a\u578b\u6a5f\u69cb\u306b\u6ce8\u76ee\u3057\uff0c\u305d\u306e\u4e0d\u6574\u5730\u9762\u3067\u306e\u79fb\u52d5\u6027\u80fd\u3092\u5411\u4e0a\u3055\u305b\u308b\u305f\u3081\uff0c\u672c\u7814\u7a76\u3067\u306f\uff0c\u8eca\u8f2a\u5f84\u3092\u5c40\u6240\u7684\u306b\u5909\u5316\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u8eca\u8f2a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u958b\u767a\u3092\u884c\u3063\u3066\u3044\u308b\u3002\u8eca\u8f2a\u306e\u30b9\u30dd\u30fc\u30af\u306b\u3042\u305f\u308b\u90e8\u5206\u306b\uff0c\u30e9\u30c3\u30af\u30a2\u30f3\u30c9\u30d4\u30cb\u30aa\u30f3\u99c6\u52d5\u306e\u30ea\u30cb\u30a2\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u3092\u5c0e\u5165\u3059\u308b\u3053\u3068\u3067\uff0c\u79fb\u52d5\u6642\u306e\u63a5\u5730\u9762\u306b\u5fdc\u3058\u3066\u8eca\u8f2a\u5f84\u3092\u67d4\u8edf\u306b\u5909\u5316\u3055\u305b\u308b\u3002\u3053\u308c\u306b\u3088\u308a\u8eca\u8f2a\u578b\u6a5f\u69cb\u3067\u3042\u308a\u306a\u304c\u3089\uff0c\u4e0d\u6574\u5730\u9762\u4e0a\u306e\u79fb\u52d5\u3082\u53ef\u80fd\u3068\u306a\u308b\u3053\u3068\u304c\u671f\u5f85\u3055\u308c\u308b\u3002<\/p>\n<p>There are generally two types of robot movement methods on land. One is a legged shape and the other is wheel-shaped. The former has high ground adaptability, but its system is complicated. On the other hand, the latter has high speed and efficiency of movement, but it is difficult to move on uneven terrain.<\/p>\n<p>To improve the mobility performance of the wheeled robot on uneven terrain, we are developing a robotic wheel that can change its diameter locally. By introducing a rack-and-pinion-driven linear actuator into the spokes of the wheel, the wheel diameter can be flexibly changed according to the ground surface during movement. This is expected to enable the robot to move on uneven terrain despite being a wheel-shaped mechanism.<\/p>\n<p><strong>\u5148\u884c\u7814\u7a76\/previous study <\/strong><\/p>\n<blockquote class=\"wp-embedded-content\" data-secret=\"dLP6fQCl5u\"><p><a href=\"https:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=353\">moriya<\/a><\/p><\/blockquote>\n<p><iframe class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; clip: rect(1px, 1px, 1px, 1px);\" src=\"https:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=353&#038;embed=true#?secret=dLP6fQCl5u\" data-secret=\"dLP6fQCl5u\" width=\"600\" height=\"338\" title=\"&#8220;moriya&#8221; &#8212; \u6fa4\u7530\u7814\u7a76\u5ba4\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5c40\u6240\u7684\u306a\u5f84\u53ef\u5909\u6a5f\u69cb\u3092\u6301\u3064\u8eca\u8f2a\u30ed\u30dc\u30c3\u30c8\u306e\u958b\u767a Development of a r&#8230; <a class=\"more-link\" href=\"https:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=565\">Continue Reading &rarr;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"_links":{"self":[{"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/565"}],"collection":[{"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=565"}],"version-history":[{"count":7,"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/565\/revisions"}],"predecessor-version":[{"id":737,"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/565\/revisions\/737"}],"wp:attachment":[{"href":"https:\/\/www.sawada.phys.waseda.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=565"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}