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Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC
http://hdl.handle.net/2237/13930
http://hdl.handle.net/2237/1393063a3640f-0222-408e-91cb-019b7d246085
名前 / ファイル | ライセンス | アクション |
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TMech2009_aoyama-1.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 | 2010-08-03 | |||||
タイトル | ||||||
タイトル | Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC | |||||
言語 | en | |||||
著者 |
Aoyama, Tadayoshi
× Aoyama, Tadayoshi× Hasegawa, Yasuhisa× Sekiyama, Kosuke× Fukuda, Toshio |
|||||
アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | ©2009 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. | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Biped walking | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | legged robots | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | underactuate | |||||
抄録 | ||||||
内容記述 | This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC constant,rdquo which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | IEEE | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TMECH.2009.2032777 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 1083-4435 | |||||
書誌情報 |
en : IEEE/ASME Transactions on Mechatronics 巻 14, 号 6, p. 712-718, 発行日 2009-12 |
|||||
フォーマット | ||||||
application/pdf | ||||||
著者版フラグ | ||||||
値 | publisher | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/13930 | |||||
識別子タイプ | HDL | |||||
URI | ||||||
識別子 | http://dx.doi.org/10.1109/TMECH.2009.2032777 | |||||
識別子タイプ | DOI |