ヒューマノイドの動作一時停止システム―実時間動作一時停止判断と実時間パターン修正―

DOI Web Site 被引用文献3件 参考文献20件

書誌事項

タイトル別名
  • Motion Suspension System for Humanoids-Real-time Judgment and Motion Generation to suspend Humanoids-
  • ヒューマノイド ノ ドウサ イチジ テイシ システム ジツジカン ドウサ イチジ テイシ ハンダン ト ジツジカン パターン シュウセイ
  • —Real-time Judgment and Motion Generation to suspend Humanoids—
  • ―実時間動作―時停止判断と実時間パターン修正―

この論文をさがす

抄録

This paper presents a motion suspension system to suspend humanoid motion in case of emergency. Once humanoids start their motions in human daily environments, there is a possibility that humanoids will meet with several emergencies such as hurting humans and injuring themselves. Even so. humanoids should be controlled so that they avert such emergencies in real-time. To realize this demand, we propose a method of real-time judgment of emergency prediction by humanoids. We also propose a simple and effective method of real-time pattern generation to force humanoids to stop immediately by one step without falling. To verify the validity of the proposed method, we finally present experimental results using a humanoid robot HRP-2, which include experiments at 2.8 [km/h] walks.

収録刊行物

被引用文献 (3)*注記

もっと見る

参考文献 (20)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ