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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control

http://hdl.handle.net/2237/13978
http://hdl.handle.net/2237/13978
f2f0e8f0-1a34-4456-b78c-c878d2f3bd45
名前 / ファイル ライセンス アクション
ICRA09.pdf ICRA09.pdf (1.1 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-08-05
タイトル
タイトル Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control
言語 en
著者 Inagaki, Shinkichi

× Inagaki, Shinkichi

WEKO 38410

en Inagaki, Shinkichi

Search repository
Suzuki, Tatsuya

× Suzuki, Tatsuya

WEKO 38411

en Suzuki, Tatsuya

Search repository
Ito, Takahiro

× Ito, Takahiro

WEKO 38412

en Ito, Takahiro

Search repository
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.
抄録
内容記述 This paper presents a new control methodology for a nonholonomic electric two-wheeled vehicle wherein the autonomous and man-machine cooperative controls are synthesized. In the proposed control scheme, the dasiaautonomous controlpsila and the dasiaman-machine cooperative controlpsila are designed by synthesizing time-state control and impedance control. The time-state controller tries to reduce the machine's deviation from the guideline, the impedance controller, on the other hand, generates power to assist the operator's maneuver. Furthermore, experimental results are shown to demonstrate the usefulness of the proposed strategy.
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/ROBOT.2009.5152879
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. 3768-3773, 発行日 2009-05-12
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13978
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/ROBOT.2009.5152879
識別子タイプ DOI
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