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タイトル
和文: 
英文:Jumping Motion Control for 4-link Robot Based on Virtual Constraint on Underactuated Joint 
著者
和文: 伊吹 竜也, 石川温人, 中浦茂樹, 三平 満司.  
英文: Tatsuya Ibuki, Atsuto Ishikawa, Shigeki Nakaura, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of the 10th Asian Control Conference 
巻, 号, ページ         1570075911
出版年月 2015年5月31日 
出版者
和文: 
英文:SICE 
会議名称
和文: 
英文:10th Asian Control Conference 
開催地
和文: 
英文:Kota Kinabalu 
DOI https://doi.org/10.1109/ASCC.2015.7244768
アブストラクト This paper presents a squat jumping control scheme for a 4-link robot. The 4-link robot model imitates the human body and the jumping motion is achieved by input-output linearization and output zeroing. One of the output functions in output zeroing control is based on trajectory planning of the center of mass in the vertical direction. The other functions are designed based on observation of actual human jumping for horizontal movement and attenuation of rotation of the body. The validity of the present scheme is shown by numerical situation.

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