書誌事項
- タイトル別名
-
- 2P1-F11 Evaluation of Nailing Motion for a Humanoid Robot
抄録
In order to exert a large force on the environment beyond the limitation of actuators, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." In this research, a nailing task is taken as an example of impact motion. To drive a nail skillfully, it is imperative to exert large force to a target point with precision. This paper presents evaluation of optimized motion based on virtual mass dynamics model. In order to evaluate the motion, experiments are carried out using a life-sized humanoid robot HRP-2. The position accuracy of the top head, validity of the contact dynamics model and effect of impulsive force on stability are discussed.
収録刊行物
-
- ロボティクス・メカトロニクス講演会講演概要集
-
ロボティクス・メカトロニクス講演会講演概要集 2008 (0), _2P1-F11_1-_2P1-F11_4, 2008
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282680910747136
-
- NII論文ID
- 110008696543
-
- ISSN
- 24243124
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可