{"id":1040,"date":"2024-10-09T18:03:14","date_gmt":"2024-10-09T09:03:14","guid":{"rendered":"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/?page_id=1040"},"modified":"2024-10-30T14:40:34","modified_gmt":"2024-10-30T05:40:34","slug":"experiments","status":"publish","type":"page","link":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/research\/stair-climbing-robot\/experiments\/","title":{"rendered":"Experiments"},"content":{"rendered":"<div data-colibri-id=\"1040-c1\" class=\"style-570 style-local-1040-c1 position-relative\">\n  <!---->\n  <div data-colibri-component=\"section\" data-colibri-id=\"1040-c2\" id=\"initial-content\" class=\"h-section h-section-global-spacing d-flex align-items-lg-center align-items-md-center align-items-center style-571 style-local-1040-c2 position-relative\">\n    <!---->\n    <!---->\n    <div class=\"h-section-grid-container h-section-boxed-container\">\n      <!---->\n      <div data-colibri-id=\"1040-c3\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-611 style-local-1040-c3 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-612-outer style-local-1040-c4-outer\">\n            <div data-colibri-id=\"1040-c4\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-612 style-local-1040-c4 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1040-c5\" class=\"d-block h-video d-block h-video style-613 style-local-1040-c5 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/FBfWDpitMEs?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-615-outer style-local-1040-c7-outer\">\n            <div data-colibri-id=\"1040-c7\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-615 style-local-1040-c7 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1040-c8\" class=\"h-text h-text-component style-728 style-local-1040-c8 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Demonstration (200*):<\/p>\n                    <p>The riser is 20 cm.&nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1040-c9\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-575 style-local-1040-c9 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-576-outer style-local-1040-c10-outer\">\n            <div data-colibri-id=\"1040-c10\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-576 style-local-1040-c10 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1040-c11\" class=\"d-block h-video d-block h-video style-577 style-local-1040-c11 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/wGgIgVVii0g?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-579-outer style-local-1040-c13-outer\">\n            <div data-colibri-id=\"1040-c13\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-579 style-local-1040-c13 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1040-c14\" class=\"h-text h-text-component style-729 style-local-1040-c14 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Hop simulation which can jump over cables or something:<\/p>\n                    <p>Blue and red curves show the trajectories of upper and lower bodies, respectively. From the red curve after the landing, we can see that there was no impact.&nbsp;&nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1040-c15\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-606 style-local-1040-c15 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-607-outer style-local-1040-c16-outer\">\n            <div data-colibri-id=\"1040-c16\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-607 style-local-1040-c16 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1040-c17\" class=\"d-block h-video d-block h-video style-608 style-local-1040-c17 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/kibhe9JDw0o?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-610-outer style-local-1040-c19-outer\">\n            <div data-colibri-id=\"1040-c19\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-610 style-local-1040-c19 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1040-c20\" class=\"h-text h-text-component style-730 style-local-1040-c20 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Challenge! 27cm-riser jump:<\/p>\n                    <p>This robot, 2-DOF spring-mass system, vibrated three times during a hop.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1040-c21\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-580 style-local-1040-c21 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-581-outer style-local-1040-c22-outer\">\n            <div data-colibri-id=\"1040-c22\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-581 style-local-1040-c22 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1040-c23\" class=\"d-block h-video d-block h-video style-584 style-local-1040-c23 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/hVz1_-plBcQ?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-583-outer style-local-1040-c25-outer\">\n            <div data-colibri-id=\"1040-c25\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-583 style-local-1040-c25 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1040-c26\" class=\"h-text h-text-component style-731 style-local-1040-c26 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Climbing down ( by Kobayashi 2013):<\/p>\n                    <p>During takeoff, it is difficult to control the attitude because the front wheels lose the reaction from the floor first. Zero-impact landing is achieved in the condition that the attitude is correct.&nbsp;<\/p>\n                    <p>m1:1.1kg, m2:2.25kg, k=1200 N\/m, h:0.11 m<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1040-c27\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-1052 style-local-1040-c27 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1053-outer style-local-1040-c28-outer\">\n            <div data-colibri-id=\"1040-c28\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1053 style-local-1040-c28 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1040-c29\" class=\"d-block h-video d-block h-video style-1054 style-local-1040-c29 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/Zp7ERNK1T8M?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1056-outer style-local-1040-c31-outer\">\n            <div data-colibri-id=\"1040-c31\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1056 style-local-1040-c31 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1040-c32\" class=\"h-text h-text-component style-1057 style-local-1040-c32 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Continuous climbing:&nbsp;<\/p>\n                    <p>m1:2.5kg,m2:1.2kg,h:0.12m,k:2000N\/m<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n    <\/div>\n  <\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>Demonstration (200*): The riser is 20 cm.&nbsp; Hop simulation which can jump over cables or something: Blue a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":1009,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/full-width-page.php","meta":{"footnotes":""},"class_list":["post-1040","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1040","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/comments?post=1040"}],"version-history":[{"count":16,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1040\/revisions"}],"predecessor-version":[{"id":2938,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1040\/revisions\/2938"}],"up":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1009"}],"wp:attachment":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/media?parent=1040"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}