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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/2237/13978f2f0e8f0-1a34-4456-b78c-c878d2f3bd45
名前 / ファイル | ライセンス | アクション |
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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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× Suzuki, Tatsuya× Ito, Takahiro |
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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 | ||||||
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 |
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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 |