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Contact Motion in Unknown Environment
https://sucra.repo.nii.ac.jp/records/9324
https://sucra.repo.nii.ac.jp/records/93247b17760a-8f89-4ee1-937b-513125848d65
名前 / ファイル | ライセンス | アクション |
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A1002446.pdf (298.0 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Contact Motion in Unknown Environment | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
森澤, 光晴
× 森澤, 光晴× 辻, 俊明× NISHIOKA, Yoshio× AKUSAWA, Ken× TAKAHASHI, Hiromasa× 大西, 公平 |
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著者 ローマ字 | ||||||
MORISAWA, Mitsuharu | ||||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
NISHIOKA, Yoshio | ||||||
著者 ローマ字 | ||||||
AKUSAWA, Ken | ||||||
著者 ローマ字 | ||||||
TAKAHASHI, Hiromasa | ||||||
著者 ローマ字 | ||||||
OHNISHI, Kouhei | ||||||
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) | ||||||
Faculty of Science and Technology, Department of System Design Engineering, Keio University | ||||||
書誌情報 |
IECON2003, the 29th Annual Conference of the Industrial Electronics Society p. 992-996, 発行日 2003 |
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年月次 | ||||||
2003-11 | ||||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/IECON.2003.1280116 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in Opder to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is dimcult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2003 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 | |||||
作成日 | ||||||
日付 | 2008-02-07 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002446 |