書誌事項
- タイトル別名
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- Control of a Conected Two-link Mobility by One Joint Actuator
- ヒトツ ノ クドウ カンセツ ニ ヨリ レンケツシタ ボウジョウ 2 リンク ノ イドウ セイギョ
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抄録
A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 73 (729), 1400-1407, 2007
一般社団法人 日本機械学会
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キーワード
詳細情報
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- CRID
- 1390001206388401536
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- NII論文ID
- 110006279395
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 8840269
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可