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Title
Japanese:接触点の運動推定に基づく二脚ロボットのデッドレコニング(ヒューマノイド) 
English: 
Author
Japanese: 舛屋 賢, 杉原 知道.  
English: Ken Masuya, Tomomichi Sugihara.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会講演概要集 
English: 
Volume, Number, Page        
Published date May 2013 
Publisher
Japanese:一般社団法人日本機械学会 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract A novel technique of dead reckoning for biped robots based on the estimation of contact points is proposed. In our previous work, that point is calculated on the assumption that its velocity with respect to the link frame is ignored. Although its assumption is reasonable in the case of the rotation about the fixed contact point, it is not appropriate in the case of the rolling contact in which the contact point moves. For this problem, we propose a novel method to calculate the instantaneous minimum velocity point. This method calculates the position and velocity with respect to the link frame at the same time. The validity of the proposed method is verified through a simulation of the robot motion with toe and heel contact

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