書誌事項
- タイトル別名
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- Trajectory Planning and Control of One-Legged Hopping Robot at Thrusting Phase
- イッソク チョウヤク ロボット ノ リショウ キドウ セイセイ ト セイギョ
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抄録
One of the most important events for hopping robot is lift-off; the end of thrusting phase, since hopping motion often comes to be unstable at lift-off. Therefore, we focus on thrusting phase. In this research, we propose a new controller, which is combined two controllers. We also propose a trajectory planning so that a hopping robot follows command value of vertical velocity. The effectiveness of the proposed methods are confirmed by simulation and experiment.
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) 127 (8), 884-889, 2007
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
- 1390001204659014272
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- NII論文ID
- 10019521434
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 8907123
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可