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Trajectory Planning of Biped Robot for Running Motion
https://sucra.repo.nii.ac.jp/records/9332
https://sucra.repo.nii.ac.jp/records/933225a4efaf-1da6-477c-bcbe-71d4c0055fea
名前 / ファイル | ライセンス | アクション |
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A1002449.pdf (1.5 MB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-07 | |||||
タイトル | ||||||
タイトル | Trajectory Planning of Biped Robot for Running Motion | |||||
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 |
鈴木, 智之
× 鈴木, 智之× 辻, 俊明× 大西, 公平 |
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著者 ローマ字 | ||||||
値 | Suzuki, Tomoyuki | |||||
著者 ローマ字 | ||||||
値 | TSUJI, Toshiaki | |||||
著者 ローマ字 | ||||||
値 | OHNISHI, Kouhei | |||||
著者 所属 | ||||||
著者 所属 | ||||||
値 | 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) | ||||||
値 | Faculty of Science and Technology, Department of System Design Engineering, Keio University | |||||
書誌情報 |
The 31st Annual Conference of the Industrial Electronics Society, IECON 2005 号 6-10, p. 1815-1820, 発行日 2005 |
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年月次 | ||||||
値 | 2005-11 | |||||
出版者名 | ||||||
出版者 | IEEE-Institute of Electrical and Electronics Engineers, Inc | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method. | |||||
注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | (c)2005 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 | ||||||
値 | [出版社版] | |||||
出版タイプ | ||||||
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 | ||||||
値 | A1002449 |