書誌事項
- タイトル別名
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- The Sway Compensation Trajectory for a Biped Robot
- 2ソク ホコウ キカイ ノ 3Dヨウドウ ホヨウ
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抄録
From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.
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 21 (7), 811-818, 2003
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
- 1390001204726893056
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- NII論文ID
- 10012460992
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 6802006
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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
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可