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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

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
fujimoto_3.pdf fujimoto_3.pdf (198.3 kB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 22226

Satoh, Satoshi

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Fujimoto, Kenji

× Fujimoto, Kenji

WEKO 22227

Fujimoto, Kenji

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Hyon, Sang-Ho

× Hyon, Sang-Ho

WEKO 22228

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
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
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