書誌事項
- タイトル別名
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- Development of Sensor and Control Systems of a Wearable Robot to Walk on a Step
- ホコウ ホジョ ロボット ニ ヨル ダンサ ホコウ ノ タメ ノ センサ セイギョケイ ノ カイハツ
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The goal of our study is to develop sensing and control systems for walking on a step using a wearable robot. Our system consists of (1) sensing of a bump from a movement of a walker, (2) detecting a foot placement state related to the bump and (3) generating gait patterns of stepping up and down for the bump. In the generation of gait patterns for the bump, toe trajectories are generated according to the height of the bump to avoid the collision of the swing leg and the bump. A hip trajectory is generated by the optimization technique to minimize the sum total of joint angular jerk of the robot subject to the constrained condition of the hip position and velocity at toe-off. Each joint angle trajectory is calculated from the generated trajectories using inverse kinematics equations. We examined the feasibility of the proposed sensor and control systems for two kinds of bumps with different height.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 131 (12), 2181-2188, 2011
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679584220672
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- NII論文ID
- 10030528662
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 023349378
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- 使用不可