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アイテム
PDAC-based underactuated 3D bipedal walking : Stabilization of PDAC constants and walking direction control
http://hdl.handle.net/2237/13932
http://hdl.handle.net/2237/139321ca14cf2-33e2-4d50-8da5-e38535af91e4
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ICRA2009_aoyama.pdf (2.3 MB)
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| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2010-08-03 | |||||
| タイトル | ||||||
| タイトル | PDAC-based underactuated 3D bipedal walking : Stabilization of PDAC constants and walking direction 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 proposes a three-dimensional biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional 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 constantrdquo, that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constant converge to arbitrary value, so that walking velocity and direction is controllable. Numerical simulation results validate proposed algorithm. | |||||
| 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/ROBOT.2009.5152455 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 1050-4729 | |||||
| 書誌情報 |
en : IEEE International Conference on Robotics and Automation (ICRA '09) p. 1565-1570, 発行日 2009-05-12 |
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| フォーマット | ||||||
| 値 | application/pdf | |||||
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| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/13932 | |||||
| 識別子タイプ | HDL | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.1109/ROBOT.2009.5152455 | |||||
| 識別子タイプ | DOI | |||||
