WEKO3
アイテム
Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points
http://hdl.handle.net/2237/20760
http://hdl.handle.net/2237/20760d0c323d4-b209-4005-8ea6-d90ecdd2fa03
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
45522.pdf (1.5 MB)
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| アイテムタイプ | 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× Kagawa, Takahiro× Uno, Yoji |
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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 | |||||
| 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 | ||||||
| 内容記述タイプ | Abstract | |||||
| 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 | |||||
| 出版者 | ||||||
| 出版者 | INTECH | |||||
| 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/10.5772/56747 | |||||
| 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 |
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| 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 | |||||
