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Collision Avoidance Method of Humanoid Robot With Arm Force
https://sucra.repo.nii.ac.jp/records/13122
https://sucra.repo.nii.ac.jp/records/1312279e11410-ea02-42b9-85dc-163322b4f970
名前 / ファイル | ライセンス | アクション |
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A1002439.pdf (1.1 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Collision Avoidance Method of Humanoid Robot With Arm Force | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Arm force | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | biped robot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | collision avoidance | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | humanoid robot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | pushing motion | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | trajectory planning | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | walking robot | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
大橋, 栄二郎
× 大橋, 栄二郎× Takahiro, Aiko× 辻, 俊明 |
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著者 ローマ字 | ||||||
Ohashi, Eijiro | ||||||
著者 ローマ字 | ||||||
Takahiro, Aiko | ||||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 所属 | ||||||
著者 所属 | ||||||
著者 所属 | ||||||
慶應義塾大学理工学部システムデザイン工学科 | ||||||
著者 所属(別言語) | ||||||
著者 所属(別言語) | ||||||
著者 所属(別言語) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 巻 54, 号 3, p. 1632-1641, 発行日 2007 |
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年月次 | ||||||
2007-6 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02780046 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/TIE.2007.894728 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes a collision avoidance method for a biped robot with an upper body. We propose a method wherein the robot stops in front of an obstacle by generating arm force. When the robot detects the obstacle by the arm tip, it should stop short of the obstacle to avoid crash. Hence, we propose trajectory planning in consideration of the pushing force of the arm. The arm force is controlled to be generated as a function of the distance from the robot body to the obstacle. The closer the robot approaches the obstacle, the larger the arm force becomes. As a result, the robot can stop by utilizing the arm force. In case the obstacle is unmovable, the robot can stop by exerting arm force. If it is movable, the robot can continue walking by pushing it. In this paper, the linear inverted pendulum mode (LIPM) and the idea of orbital energy are introduced, and then, we extend LIPM and orbital energy in consideration of the dynamics of the arm force. The extended orbital energy is utilized to discriminate whether the robot can stop or not and to modify the trajectory of the robot to avoid collision. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002439 |