書誌事項
- タイトル別名
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- A Global Step Planning Method for Biped Robot Considering Obstacles
- ショウガイブツ オ コウリョ シタ 2ソク ホコウ ロボット ノ チャクチテン セイギョ
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説明
This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. Experimental results are shown to confirm the validity of the proposed methods.
収録刊行物
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- 電気学会論文誌Ｄ（産業応用部門誌）
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電気学会論文誌Ｄ（産業応用部門誌） 124 (6), 549-555, 2004
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204657009536
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- NII論文ID
- 10013069975
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 6971222
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可