書誌事項
- タイトル別名
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- Motor Learning System Compensating the Characteristics of Pneumatic Manipulators
- クウキアツ マニピュレータ ノ トクセイ オ コウリョシタ ウンドウ ガクシュウ システム ノ テイアン
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Pneumatic actuators are suitable for humanoid robots interacting with persons in terms of size and safety since they have high flexibility and high power to weight ratio. However, it is known that it is difficult to control them stably by a feedback control because of their large dead time and high-order delay. Therefore, when we apply the feedback error learning to learn an inverse model of a system includes such actuators, the strong non-linearity makes the learning unstable. This paper focuses on an android which adopts pneumatic actuators with strong non-linearity and proposes a method to learn the inverse model of the android by compensating the characteristics of the actuators.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 44 (6), 525-531, 2008
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204502662528
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- NII論文ID
- 130003792150
- 10021990679
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 9564241
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- データソース種別
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