Maximization of Jump Height of a Serial Link Robot Based on Particle Swarm Optimization
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- Matsui Takeshi
- Graduate School of Engineering, Hiroshima University
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- Kato Kosuke
- Graduate School of Engineering, Hiroshima University
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- Sakawa Masatoshi
- Graduate School of Engineering, Hiroshima University
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- Uno Takeshi
- Graduate School of Engineering, Hiroshima University
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- Higashimori Mitsuru
- Graduate School of Engineering, Osaka University
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- Kaneko Makoto
- Graduate School of Engineering, Osaka University
Bibliographic Information
- Other Title
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- 生物群最適化に基づくシリアルリンクロボットの跳躍高最大化
- セイブツグン サイテキカ ニ モトズク シリアル リンク ロボット ノ チョウヤクダカ サイダイカ
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Abstract
In this paper, we focus on the maximization of the jump height of a serial link robot. The jump height maximization problem is formulated as a nonlinear programming problem, where torque patterns to drive joints in the robot are decision variables and the objective function is an inexplicit function whose value is obtained as an output of a jump simulator. As a previous reasearch, an approximate solution method using a genetic algorithm was proposed for the jump height maximization problem. In the research, some interesting joint drive torque patterns were found by the method, but it costed much time to obtain a drive torque pattern. In order to improve the accuracy of the obtained solution and shorten the computational time, in this paper, we propose a new solution method based on particle swarm optimization (PSO) .
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 26 (1), 41-48, 2008
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679703215232
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- NII Article ID
- 10020124456
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 9347273
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed