WEKO3
アイテム
Real-Time motion generation and control systems for high wheel-legged robot mobility
http://hdl.handle.net/10131/8454
http://hdl.handle.net/10131/845450c44fbf-7920-4368-8a46-e2c0704f94a2
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ALL_12-TIE-1679.pdf (6.7 MB)
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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 | 2013-11-01 | |||||||||
| タイトル | ||||||||||
| タイトル | Real-Time motion generation and control systems for high wheel-legged robot mobility | |||||||||
| 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 |
Suzumura, Akihiro
× Suzumura, Akihiro
× Fujimoto, Yasutaka
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | A wheel-legged mobile robot (WLMR) has both leg and wheel structures. WLMRs have adaptability advantages because they can change locomotion methods depending on the terrain. However, the location of a WLMR’s center of gravity (CoG) is very high; Thus, almost all existing WLMRs move statically. In this study, whole body motion generation and various control systems are studied to facilitate higher WLMR mobility. To this end, a zero moment point (ZMP) is introduced as a stability index. In addition, WLMRs are modeled as single point mass linear inverted pendulums. Subsequently, online CoG pattern generation methods are proposed; one is a preview control approach and a second is an approach that realizes the desired ZMP pattern using a zero-phase low-pass filter. It is then possible to generate the desired CoG patterns more easily and faster than with a preview control approach. The CoG patterns based on the single point model are constructed via the resolved momentum control approach. Finally, the effectiveness of the whole body motion pattern generated by the proposed methods is validated by simulations and experiments. | |||||||||
| 言語 | en | |||||||||
| bibliographic_information |
en : IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society 巻 PP, 号 99, ページ数 1, 発行日 2013-11-01 |
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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 | 02780046 | |||||||||
| item_2_source_id_11 | ||||||||||
| 収録物識別子タイプ | NCID | |||||||||
| 収録物識別子 | AA10629318 | |||||||||
| item_2_relation_13 | ||||||||||
| 関連タイプ | isVersionOf | |||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | 10.1109/TIE.2013.2286071 | |||||||||
| 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) | |||||||||
