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Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control
http://hdl.handle.net/2237/13931
http://hdl.handle.net/2237/1393111ffcb9f-74b8-4b2a-aedc-f0a4ec1e0672
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IROS2009_aoyama-1.pdf (693.0 kB)
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| アイテムタイプ | 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 | Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control | |||||
| 言語 | en | |||||
| 著者 |
Aoyama, Tadayoshi
× Aoyama, Tadayoshi× Sekiyama, Kosuke× Hasegawa, Yasuhisa× Fukuda, Toshio |
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| 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 | ||||||
| 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. | |||||
| 言語 | en | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ¿PDAC constant¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot ¿Multi-locomotion Robot¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 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/IROS.2009.5354138 | |||||
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| 関連タイプ | isPartOf | |||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-1-4244-3803-7 | |||||
| 書誌情報 |
en : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) p. 1308-1313, 発行日 2009-10-10 |
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| 値 | application/pdf | |||||
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| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/13931 | |||||
| 識別子タイプ | HDL | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.1109/IROS.2009.5354138 | |||||
| 識別子タイプ | DOI | |||||
