相補性システム表現に基づく跳躍システムの制御  [in Japanese] Control Strategy for Optimal High Jump Based on Complementarity Modeling  [in Japanese]

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Author(s)

    • 齋藤 豊 SAITOU Yutaka
    • 東京工業大学大学院情報理工学研究科 Graduate School of Information Science and Engineering, Tokyo Institute of Technology
    • 関 卓史 SEKI Takashi
    • 東京工業大学大学院情報理工学研究科 Graduate School of Information Science and Engineering, Tokyo Institute of Technology

Abstract

In this paper, we propose an optimal high jump control strategy for a jumping robot system, based on complementarity modeling approach. The jumping robot system is composed of a simple <I>jumper part</I>, an <I>environment (trampoline) </I> part and some hooks to limit the robot length. It is essentially a hybrid system, due to variable mechanical constraints, such as collision with trampoline, and length limitations. At first, we provide an efficient model of the system as a complementarity-slackness, which enables us to handle discontinuous phenomena of hybrid systems, i.e., discontinuous change of dynamics and leap of solution, in a unified and mathematically sound framework. Then we formulate the high jump problem as a maximizing problem of the peak height of the robot's center of gravity in a given time interval. The optimal control is derived numerically by performing a dynamic programming algorithm, and its validity is verified with computer simulations. The advantage of this modeling approach is that we need not to deal with the awkward variable constraints when we formulate control problem, since they are all considered in the model itself.

Journal

  • Transactions of the Institute of Systems, Control and Information Engineers

    Transactions of the Institute of Systems, Control and Information Engineers 15(5), 270-277, 2002-05-15

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

References:  16

Cited by:  1

Codes

  • NII Article ID (NAID)
    10008469677
  • NII NACSIS-CAT ID (NCID)
    AN1013280X
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    13425668
  • NDL Article ID
    6142726
  • NDL Source Classification
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL Call No.
    Z14-195
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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