メモリ・ベースト運動制御による２足歩行の制御

• 宮腰 清一

  産業技術総合研究所デジタルヒューマン研究センタ

書誌事項

タイトル別名

• Bipedal Walking with a Memory-based Motion Controller
• メモリ ベースト ウンドウ セイギョ ニ ヨル 2ソク ホコウ ノ セイギョ

抄録

In this paper, with a compass-like biped model, a memory-based controller for a planar bipedal walking system is presented. This paper is structured into two parts: Firstly, the passive dynamics of the compass-like biped is presented-to allow continuous stepping, the essential relationship between step length and initial push-off speed for ballistic motion is explored. The dynamics is enhanced and utilized via additional actuation by the controller. Secondly, the memory based walking motion generation and controller is presented, this controller refers to a memorized trajectory library, made of neutral orbits with various gait parameters for continuous walking. The proposed controller is examined and evaluated with dynamical simulations.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 24 (5), 623-631, 2006

  一般社団法人 日本ロボット学会

キーワード

• Bipedal Walking Control
• Compass-like Model
• Passive Dynamics Based Control
• Memory Based Motion Generation and Control

詳細情報

• CRID: 1390001204725983872
• NII論文ID: 10018009441
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.24.623
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8038978
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8038978
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可