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タイトル
和文:4リンク3アクチュエータロボットの跳躍制御 
英文: 
著者
和文: 加藤大地, 関口和真, 三平満司.  
英文: Daichi Kato, Kazuma Sekiguchi, MITSUJI SAMPEI.  
言語 Japanese 
掲載誌/書名
和文:第12回「運動と振動の制御」シンポジウム講演論文集 
英文: 
巻, 号, ページ     No. 11-6    pp. 560-565
出版年月 2011年6月29日 
出版者
和文:日本機械学会 
英文: 
会議名称
和文:第12回「運動と振動の制御」シンポジウム 
英文: 
開催地
和文:長野 
英文:Nagano 
DOI https://doi.org/10.1299/jsmemovic.2011.12.560
アブストラクト This paper describes a control strategy for a vertical jumping motion of the jumping robot. The target system consists of 4-link and 3-actuator, which is a model of human body. This system is fullactuate in initial states, but in the process of jumping, this system becomes underactuate. Besides, constraints of the system are variable in the process. Therefore, this system is an underactuated and a variable constraint system. In this paper, the control method which overcomes the difficulties is proposed. Furthermore, by considering properties of a vertical jumping motion of human, the proposed control method realizes a humanlike vertical jumping.

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