跳躍機械の跳躍高さ制御 A Hopping Height Control for Hopping Robot

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著者

    • 大橋 栄二郎 OHASHI Eijiro
    • 慶應義塾大学理工学部システムデザイン工学科 Department of System Design Engineering, Faculty of Science and Technology, Keio University
    • 大西 公平 OHNISHI Kouhei
    • 慶應義塾大学理工学部システムデザイン工学科 Department of System Design Engineering, Faculty of Science and Technology, Keio University

抄録

In recent years, legged robots are progressed and able to walk just like human beings. Hopping has a possibility of moving faster and avoiding larger obstacles than walking. Thus hopping becomes more significant.<br>In this paper, to take account of torque limits of motors, we propose the method of controlling the hopping height by changing the leg length at bottom. Considering an actual environment, the environment will change as the robot moves around. Therefore we describe the way to estimate an actual thrust force. Using the estimated thrust force, command value of leg length in the landing phase is determined. The effectiveness of proposed method is confirmed by simulative and experimental results.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 124(7), 660-665, 2004-07-01

    一般社団法人 電気学会

参考文献:  7件中 1-7件 を表示

被引用文献:  4件中 1-4件 を表示

各種コード

  • NII論文ID(NAID)
    10013268358
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    7020053
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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