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Trajectory generation of biped running robot with minimum energy consumption
http://hdl.handle.net/10131/8427
http://hdl.handle.net/10131/8427443d29b3-fbb0-430c-9783-15a29d2e9545
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
2004_fujimoto_ICRA.pdf (329.2 kB)
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| アイテムタイプ | 図書 / Book(1) | |||||
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| 公開日 | 2013-09-13 | |||||
| タイトル | ||||||
| タイトル | Trajectory generation of biped running robot with minimum energy consumption | |||||
| 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_2f33 | |||||
| 資源タイプ | book | |||||
| 著者 |
Fujimoto, Yasutaka
× Fujimoto, Yasutaka |
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| 著者(ヨミ) | ||||||
| 姓名 | フジモト, ヤスタカ | |||||
| 著者所属 | ||||||
| 値 | Department of Electrical and Computer Engineering, Yokohama National University | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | The exact and general formulation of optimal control for biped robots based on numerical representation of motion equation is proposed. We can solve exactly the minimum energy consumption trajectories for a biped running motion. Through the numerical study of a ve link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints. | |||||
| 書誌情報 |
2004 IEEE International Conference on Robotics and Automation (ICRA) 巻 4, p. 3803-3808, 発行日 2004-04 |
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| ISSN | ||||||
| 関連タイプ | isPartOf | |||||
| 識別子タイプ | ISSN | |||||
| 関連識別子 | 10504729 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/ROBOT.2004.1308861 | |||||
| 著者版フラグ | ||||||
| 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 | |||||
