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Simulation of an autonomous biped walking robot including environmental force interaction
http://hdl.handle.net/10131/8421
http://hdl.handle.net/10131/8421bfcd62e6-4fd2-4297-a5bb-213da855fb1f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
11.1998_fujimoto_RA-Mag.pdf (745.5 kB)
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| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||
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| 公開日 | 2013-09-09 | |||||||||
| タイトル | ||||||||||
| タイトル | Simulation of an autonomous biped walking robot including environmental force interaction | |||||||||
| 言語 | en | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
| 資源タイプ | journal article | |||||||||
| アクセス権 | ||||||||||
| アクセス権 | open access | |||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||
| 著者 |
Fujimoto, Yasutaka
× Fujimoto, Yasutaka
× Kawamura, Atsuo
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | This autonomous biped walking control system is based on the reactive force interaction at the foothold. The precise 3D (three dimensional) dynamic simulation pre?sented includes: 1) a posture controller which accommodate the physical constraints of the reactive force / torque on the foot by quadratic programming. 2) a real--time COM (center of mass) tracking controller for foot placement, with a discrete inverted pendulum model. 3) a 3D dynamic simulation scheme with precise contact with the environment. The proposed approach realizes the robust biped locomotion because the environmental interaction is directly controlled. The proposed method is applied to the 20 axes simulation model, and the stable biped locomotion with velocity of 0.25 m/sec and stepping time of 0.5 sec/step is realized. | |||||||||
| 言語 | en | |||||||||
| bibliographic_information |
en : IEEE robotics and automation magazine 巻 5, 号 2, p. 33-42, ページ数 10, 発行日 2002-08 |
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| item_2_source_id_9 | ||||||||||
| 収録物識別子タイプ | PISSN | |||||||||
| 収録物識別子 | 10709932 | |||||||||
| item_2_source_id_11 | ||||||||||
| 収録物識別子タイプ | NCID | |||||||||
| 収録物識別子 | AA10996465 | |||||||||
| item_2_relation_13 | ||||||||||
| 関連タイプ | isVersionOf | |||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | 10.1109/100.692339 | |||||||||
| 出版タイプ | ||||||||||
| 出版タイプ | AM | |||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||
| 出版者 | ||||||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||||||
