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- 金広 文男
- 産業技術総合研究所
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- 森澤 光晴
- 産業技術総合研究所
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- Suleiman Wael
- National Institute of Advanced Industrial Science and Technology (AIST)
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- 金子 健二
- 産業技術総合研究所
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- 吉田 英一
- 産業技術総合研究所
書誌事項
- タイトル別名
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- Reactive Leg Motion Generation Method under Consideration of Physical Constraints
- ジツキ ノ ブツリテキ セイヤク オ コウリョ シタ ソクオウテキ キャク ドウサ セイセイ シュホウ
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抄録
This paper proposes a reactive leg motion generation method which integrates physical constraints into its generation process. In order to react given instructions instantaneously or to keep balance against external disturbances, feasible steps must be generated automatically in real-time for safety. In many cases this feasibility has been realized by using predefined steps or admissible stepping regions. However, these predefinitions are valid only in limited situations. The proposed method considers physical constraints during its generation process. It consists of a swing leg trajectory generator and a constraint solver. The former generates a swing leg trajectory considering rough self-collision avoidance between legs. The latter does joint velocities considering joint angle/velocity limits and precise self-collision avoidance. Moreover, in order to improve the possibility of feasible patterns being generated, a stiffness varying constraint and a landing position modification function are introduced. The proposed method is validated by experiments using a humanoid robot HRP-2.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 28 (10), 1251-1261, 2010
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725007488
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- NII論文ID
- 10027648345
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10941671
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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