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周期入力制御による弾性脚を持つ4 脚走行ロボットの跳躍姿勢安定制御
http://hdl.handle.net/10258/00009490
http://hdl.handle.net/10258/0000949045e65ca1-0fa3-4842-bd47-024a2621adc7
名前 / ファイル | ライセンス | アクション |
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SI2016(17)_1553 (782.0 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||||||||||||||||||||
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公開日 | 2017-10-25 | |||||||||||||||||||||||
タイトル | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
タイトル | 周期入力制御による弾性脚を持つ4 脚走行ロボットの跳躍姿勢安定制御 | |||||||||||||||||||||||
タイトル | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
タイトル | Hopping Attitude Stabilization of the Quadruped Robot with Compliant Legs by Periodic input control | |||||||||||||||||||||||
言語 | ||||||||||||||||||||||||
言語 | jpn | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | 周期入力制御 | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | 弾性脚 | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | 4 脚走行ロボット | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | 跳躍姿勢安定制御 | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | Hopping Attitude Stabilization | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | the Quadruped Robot | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | Compliant Legs | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | Periodic input control | |||||||||||||||||||||||
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 |
志賀, 昂
× 志賀, 昂× 梶原, 秀一
WEKO
39396
× 青柳, 学
WEKO
15454
× 花島, 直彦
WEKO
5812
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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 | ||||||||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||||||||
青柳 学(AOYAGI Manabu) | ||||||||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000028_ja.html | ||||||||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||||||||
花島 直彦(HANAJIMA Naohiko) | ||||||||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html | ||||||||||||||||||||||||
抄録 | ||||||||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||||||||
内容記述 | We are aiming to realize an efficient running motion utilized elasticity of legs by applying the periodic input control method to a quadruped robot with compliant legs. In our previous work, we achieved a hopping locomotion motion by controlling the center of mass of the robot with the expanding periodic input control method. While this approach has an advantage on its simplicity, however it has a disadvantage on stability against disturbances. In this paper, we propose a hopping attitude control based on mutual entrainment among periodic input control systems. | |||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
書誌情報 |
ja : 計測自動制御学会システムインテグレーション部門講演会論文集 巻 SI2016, 号 第17回, p. 1553-1556, 発行日 2016-12 |
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出版者 | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
出版者 | 計測自動制御学会 | |||||||||||||||||||||||
日本十進分類法 | ||||||||||||||||||||||||
主題Scheme | NDC | |||||||||||||||||||||||
主題 | 548.3 | |||||||||||||||||||||||
権利 | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
権利情報 | © 2016 SICE | |||||||||||||||||||||||
著者版フラグ | ||||||||||||||||||||||||
出版タイプ | VoR | |||||||||||||||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||||||||
フォーマット | ||||||||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||||||||
内容記述 | application/pdf |