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4結合van der Pol方程式の同期パターンを利用した4足歩行ロボットの歩行制御
http://hdl.handle.net/10258/00010039
http://hdl.handle.net/10258/000100393d0f42f9-edf6-47fe-bf76-72b47ef52521
名前 / ファイル | ライセンス | アクション |
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JSMEROBOMEC_1P1_F16 (624.9 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||||||||
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公開日 | 2019-11-12 | |||||||||||
タイトル | ||||||||||||
言語 | ja | |||||||||||
タイトル | 4結合van der Pol方程式の同期パターンを利用した4足歩行ロボットの歩行制御 | |||||||||||
タイトル | ||||||||||||
言語 | en | |||||||||||
タイトル | Walking pattern control for four-legged walking robot using synchronization pattern of four-coupled van der Pol equations -Tracking characteristic to target phase patterns- | |||||||||||
言語 | ||||||||||||
言語 | jpn | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | van der Pol equation | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | four-legged robot | |||||||||||
キーワード | ||||||||||||
言語 | en | |||||||||||
主題Scheme | Other | |||||||||||
主題 | walking pattern generation | |||||||||||
資源タイプ | ||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
資源タイプ | conference paper | |||||||||||
アクセス権 | ||||||||||||
アクセス権 | open access | |||||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
著者 |
合田, 浩章
× 合田, 浩章× 梶原, 秀一
WEKO
39396
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室蘭工業大学研究者データベースへのリンク | ||||||||||||
梶原 秀一(KAJIWARA Hidekazu) | ||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000059_ja.html | ||||||||||||
抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | In our previous work, we proposed a walking pattern generation method of a four-legged robot using four-coupled van der Pol (VDP) equations. We use VDP equation as a nonlinear oscillator to generate a walking pattern of the robot. When several equations are coupled mutually, they in uence each other and their periodic solutions synchronize. Our walking pattern generation method can control forward and turning motions of a four-legged robot by changing a phase difference pattern between VDP equations. In this study, we describe the numerical simulation result that analyzed tracking characteristic to a target pattern of a phase difference pattern in each case of all or serial coupled VDP equations. | |||||||||||
言語 | en | |||||||||||
書誌情報 |
ja : ロボティクス・メカトロニクス講演会講演概要集 en : The Proceedings of JSME annual Conference on Robotics and Mechatronics 巻 2018, p. 1P1-F16, 発行日 2018-12-25 |
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出版者 | ||||||||||||
言語 | ja | |||||||||||
出版者 | 日本機械学会 | |||||||||||
出版者版へのリンク | ||||||||||||
10.1299/jsmermd.2018.1P1-F16 | ||||||||||||
https://doi.org/10.1299/jsmermd.2018.1P1-F16 | ||||||||||||
DOI | ||||||||||||
関連タイプ | isVersionOf | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | info:doi/10.1299/jsmermd.2018.1P1-F16 | |||||||||||
論文ID(NAID) | ||||||||||||
関連タイプ | isVersionOf | |||||||||||
識別子タイプ | NAID | |||||||||||
関連識別子 | 130007551178 | |||||||||||
日本十進分類法 | ||||||||||||
主題Scheme | NDC | |||||||||||
主題 | 548 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | EISSN | |||||||||||
収録物識別子 | 2424-3124 | |||||||||||
書誌レコードID | ||||||||||||
収録物識別子タイプ | NCID | |||||||||||
収録物識別子 | AA11902933 | |||||||||||
権利 | ||||||||||||
言語 | ja | |||||||||||
権利情報 | © 2018 日本機械学会 | |||||||||||
著者版フラグ | ||||||||||||
出版タイプ | AM | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
フォーマット | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | application/pdf |