相補性システム表現に基づく跳躍システムの制御 Control Strategy for Optimal High Jump Based on Complementarity Modeling

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著者

    • 齋藤 豊 SAITOU Yutaka
    • 東京工業大学大学院情報理工学研究科 Graduate School of Information Science and Engineering, Tokyo Institute of Technology
    • 関 卓史 SEKI Takashi
    • 東京工業大学大学院情報理工学研究科 Graduate School of Information Science and Engineering, Tokyo Institute of Technology

抄録

In this paper, we propose an optimal high jump control strategy for a jumping robot system, based on complementarity modeling approach. The jumping robot system is composed of a simple <I>jumper part</I>, an <I>environment (trampoline) </I> part and some hooks to limit the robot length. It is essentially a hybrid system, due to variable mechanical constraints, such as collision with trampoline, and length limitations. At first, we provide an efficient model of the system as a complementarity-slackness, which enables us to handle discontinuous phenomena of hybrid systems, i.e., discontinuous change of dynamics and leap of solution, in a unified and mathematically sound framework. Then we formulate the high jump problem as a maximizing problem of the peak height of the robot's center of gravity in a given time interval. The optimal control is derived numerically by performing a dynamic programming algorithm, and its validity is verified with computer simulations. The advantage of this modeling approach is that we need not to deal with the awkward variable constraints when we formulate control problem, since they are all considered in the model itself.

収録刊行物

  • システム制御情報学会論文誌

    システム制御情報学会論文誌 15(5), 270-277, 2002-05-15

    一般社団法人 システム制御情報学会

参考文献:  16件中 1-16件 を表示

被引用文献:  1件中 1-1件 を表示

各種コード

  • NII論文ID(NAID)
    10008469677
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    6142726
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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