| 摘要 |
PURPOSE: A motion editor method of a horse robot with four degrees of freedom is provided to calculate the positions of a saddle for generating various robot motions because the position of four motors is arbitrarily designated by users. CONSTITUTION: A motion editor method of a horse robot with four degrees of freedom is as follows. Each position of first, second, third, and fourth motors(101,103,105,107) is calculated. The first motor makes acceleration or deceleration when a saddle slidingly moves forward and backward and expands entire work space. The second motor is related to the inclination of the saddle. The third motor controls the height of the saddle. The fourth motor generates horse motions while drawing a circle with the saddle. The position of the saddle and the angle of the saddle inclined from the surface of the earth are calculated by using the position of motors. Motion coordinates of the horse robot are outputted by using the position and inclined angle of the saddle.
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