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タイトル
和文: 
英文:Experiment of Vertical Jumping and Landing Motion with 4-link Robot 
著者
和文: 清水 貴充, 関口 和真, 三平 満司.  
英文: Takamitsu Shimizu, Kazuma Sekiguchi, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of SICE Annual Conference 2013 
巻, 号, ページ         pp. 2166-2171
出版年月 2013年9月17日 
出版者
和文: 
英文:SICE 
会議名称
和文: 
英文:SICE Annual Conference 2013 
開催地
和文: 
英文:Nagoya 
アブストラクト This paper presents a control law for a vertical jumping and landing motion with 4-link robot. A target system consists of four links and three actuators placed on each joint between the links. This system is fullactuated at the initial state or posture, but as the physical constraint varies in a process of a jumping motion, the system comes to be underactuated. With the control strategy overcoming these difficulties, we propose a control law of a vertical jumping and landing motion the the model, and numerical simulation.

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