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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

Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

http://hdl.handle.net/2237/20760
http://hdl.handle.net/2237/20760
d0c323d4-b209-4005-8ea6-d90ecdd2fa03
名前 / ファイル ライセンス アクション
45522.pdf 45522.pdf (1.5 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2014-11-11
タイトル
タイトル Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points
言語 en
著者 Sung, ChangHyun

× Sung, ChangHyun

WEKO 54323

en Sung, ChangHyun

Search repository
Kagawa, Takahiro

× Kagawa, Takahiro

WEKO 54324

en Kagawa, Takahiro

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 54325

en Uno, Yoji

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
キーワード
主題Scheme Other
主題 Decentralized Control
キーワード
主題Scheme Other
主題 High-Order Neural Networks
キーワード
主題Scheme Other
主題 Extended Kalman Filter
キーワード
主題Scheme Other
主題 Backstepping
抄録
内容記述 We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 INTECH
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/10.5772/56747
ISSN
収録物識別子タイプ PISSN
収録物識別子 1729-8806
書誌情報 en : International Journal of Advanced Robotic Systems

巻 10, p. 300-300, 発行日 2013-07
著者版フラグ
値 publisher
URI
識別子 http://dx.doi.org/10.5772/56747
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/20760
識別子タイプ HDL
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