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Title
Japanese:重心軌道計画を用いた4リンク3アクチュエータロボットの跳躍制御 
English:Squat Jumping Motion Control for 4-link Robots by Trajectory Planning of the Center of Gravity 
Author
Japanese: 遠藤直輝, 伊吹竜也, 三平満司.  
English: Naoki Endou, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第14回「運動と振動の制御」シンポジウム予稿集 
English: 
Volume, Number, Page         C214
Published date June 22, 2015 
Publisher
Japanese:日本機械学会 
English: 
Conference name
Japanese:第14回「運動と振動の制御」シンポジウム 
English: 
Conference site
Japanese:栃木県宇都宮市 
English: 
DOI https://doi.org/10.1299/jsmemovic.2015.14.406
Abstract This paper proposes a squat jumping motion control scheme for 4-link robots. The 4-link robot models a human body by 4 links and 3 actuators. Therefore, this system is undreactuated and has variable physical constraints during jumping motion, which makes difficult to control this system. In this work, we design trajectories of the center of gravity to achieve squat jumping motion. Then, we apply input-output linearization and output zeroing control to the system for the designed trajectory. We finally demonstrate the effectiveness of the present approach via simulations.

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