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Pushing Motion of Humanoid Robot on Dynamic Locomotion
https://sucra.repo.nii.ac.jp/records/9315
https://sucra.repo.nii.ac.jp/records/931546c273c3-9350-4bbc-be56-8a96743476ed
名前 / ファイル | ライセンス | アクション |
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A1002436.pdf (1.0 MB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-06 | |||||
タイトル | ||||||
タイトル | Pushing Motion of Humanoid Robot on Dynamic Locomotion | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Pushing motion | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | humanoid robot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | dynamic stability | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | walking pattern generator | |||||
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 |
池邉, 心美
× 池邉, 心美× 辻, 俊明× SATO, Yoshiharu× TSUJI, Koichiro× 大西, 公平 |
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著者 ローマ字 | ||||||
IKEBE, Motomi | ||||||
著者 ローマ字 | ||||||
TSUJI, Toshiaki | ||||||
著者 ローマ字 | ||||||
SATO, Yoshiharu | ||||||
著者 ローマ字 | ||||||
TSUJI, Koichiro | ||||||
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 |
IEEE International Conference on Industrial Technology, ICIT ’04-Tunisia 巻 1, 号 8-10, p. 90-95, 発行日 2004 |
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年月次 | ||||||
2004-12 | ||||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/ICIT.2004.1490263 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | ICIT’04-Tunisia Best Presentation Award受賞 (c)2004 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. |
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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 | 2008-02-06 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
A1002436 |