@inproceedings{oai:sucra.repo.nii.ac.jp:00009324,
 author = {森澤, 光晴 and 辻, 俊明 and NISHIOKA, Yoshio and AKUSAWA, Ken and TAKAHASHI, Hiromasa and 大西, 公平},
 book = {IECON2003, the 29th Annual Conference of the Industrial Electronics Society},
 month = {},
 note = {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., (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., text},
 pages = {992--996},
 publisher = {IEEE-Institute of Electrical and Electronics Engineers, Inc},
 title = {Contact Motion in Unknown Environment},
 year = {2003},
 yomi = {モリサワ, ミツハル and ツジ, トシアキ and オオニシ, コウヘイ}
}