能動脚と受動脚の協調システムに基づく腱駆動ヒューマノイドによるペダリング操作の実現  [in Japanese] Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid  [in Japanese]

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Author(s)

    • 木村 航平 KIMURA Kohei
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 浅野 悠紀 ASANO Yuki
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 上月 豊隆 KOZUKI Toyotaka
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 白井 拓磨 SHIRAI Takuma
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 岡田 慧 OKADA Kei
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo
    • 稲葉 雅幸 INABA Masayuki
    • 東京大学大学院情報理工学系研究科 Graduate School of Information Science and Technology, The University of Tokyo

Abstract

In this research, we aim at pedaling manipulation task by humanoid. Control strategy for pedaling has the difficult problems to be solved, for example closed-loop and multipoint-contact dynamical systems. For this background, we contribute 2-legs functional controller component which is classified to “Active-Leg” and “Passive-Leg”. “Active-Leg” is the leg that drives crank without slipping from the pedal, and “Passive-Leg” is the leg that avoids pedal by detecting force change. These functional legs realize the unilateral and cooperative manipulation. Then we generally discuss these manipulability and reveal the characteristics for humanlike tendon-driven humanoid.

Journal

  • Transactions of the Society of Instrument and Control Engineers

    Transactions of the Society of Instrument and Control Engineers 52(8), 428-436, 2016

    The Society of Instrument and Control Engineers

Codes

  • NII Article ID (NAID)
    130005265946
  • NII NACSIS-CAT ID (NCID)
    AN00072392
  • Text Lang
    JPN
  • ISSN
    0453-4654
  • NDL Article ID
    027609488
  • NDL Call No.
    Z14-482
  • Data Source
    NDL  J-STAGE 
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