書誌事項
- タイトル別名
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- Nonlinear Feedback Control of a Biped Walking Robot.
- ヒセンケイ フィードバック ニヨル ニソク ホコウ ロボット ノ セイギョ
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抄録
An implementation of a biped robot which is capable of dynamic walking by a simple nonlinear control algorithm is presented. Four D.C. servo motors actuate the knee and ankle joints of the legs of the robot. The biped is constrained to the sagital plane, and the motion generation is reduced to a problem of controlling the position and velocity of the robot's center of gravity. They are controlled by a nonlinear feedback controller, based on a simple feedback linearization method. Several design issues including mechanical structure, leg actuation, and control system of the robot are discussed. Experimental results demonstrate the effectiveness of the algorithm.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 14 (8), 1194-1199, 1996
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204724876672
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- NII論文ID
- 10007548069
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4087029
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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