書誌事項
- タイトル別名
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- Contact-motion Planning Integrating Multiple Contact Transition Strategies and its Application to Slide Contact Motion for Humanoid Robot
- フクスウ ノ セッショク センイ ホウシキ オ トウゴウ スル ゼンシン コウドウ ケイカクホウ ト ヒューマノイド ノ スベリ セッショク センイ コウドウ エ ノ オウヨウ
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This paper presents a new contact-motion planning algorithm which searches not only contacts and motions but also contact transition strategies. Especially, this paper focus on slide-type and detach-type switching. Our idea is to separate the planning process into 3 steps: select contact transition strategy, search contact state, and generate motion. This separation prevents from complicating the motion search process which is generally a non-linear optimization process and is computationally expensive, and enables to manually control the priorities of all transition strategies. The contribution of this paper is to develop a new concept of contact-motion planning algorithm involving contact transition strategies switching, and to examine the algorithm's search capabilities through 2 scenarios: bed seating, and standing up. The bed seating experiment is shown not only in the simulation world but also in the real world with real humanoid robot.
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 35 (5), 393-402, 2017
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
- 1390001204728300672
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- NII論文ID
- 130006855064
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 028335368
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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