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Gait Generation for Passive Running via Iterative Learning Control
http://hdl.handle.net/2237/9532
8ce54987-393e-4777-b0d3-c52c32662d70
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 | 2008-02-29 | |||||
タイトル | ||||||
タイトル | Gait Generation for Passive Running via Iterative Learning Control | |||||
著者 |
Satoh, Satoshi
× Satoh, Satoshi× Fujimoto, Kenji× Hyon, Sang-Ho |
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抄録 | ||||||
内容記述 | This paper proposes a novel framework to generate optimal passive gait trajectories for a planar one-legged hopping robot via iterative learning control. The proposed method utilizes variational symmetry of the plant model in executing the steepest decent method in the learning algorithm. This allows one to obtain solutions of a class of optimal control problems without using precise knowledge of the plant model. Furthermore, its application to a hopping robot produces a passive running gait trajectory with zero input. Some numerical examples demonstrate the effectiveness of the proposed method. | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
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 | |||||
DOI | ||||||
関連識別子 | ||||||
識別子タイプ | DOI | |||||
関連識別子 | http://dx.doi.org/10.1109/IROS.2006.282471 | |||||
ISBN | ||||||
関連識別子 | ||||||
識別子タイプ | ISBN | |||||
関連識別子 | 1-4244-0259-X | |||||
書誌情報 |
IEEE/RSJ International Conference on Intelligent Robots and Systems p. 5907-5912, 発行日 2006 |
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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/2237/9532 | |||||
識別子タイプ | HDL |