-
- YOSHIDA Haruyuki
- 大阪電気通信大学 大学院工学研究科
-
- INOUE Kenji
- 山形大学 大学院理工学研究科
-
- ARAI Tatsuo
- 大阪大学 大学院基礎工学研究科
-
- MAE Yasushi
- 大阪大学 大学院基礎工学研究科
Bibliographic Information
- Other Title
-
- 脚式移動マニピュレータの作業移動
- 脚式移動マニピュレータの作業移動 : マニピュレーションに応じた踏み換え動作調整法
- キャクシキ イドウ マニピュレータ ノ サギョウ イドウ : マニピュレーション ニ オウジタ フミ カエ ドウサ チョウセイホウ
- -A Method of Adjusting Step Motion for Improvement of Manipulability and Stability-
- -マニピュレーションに応じた踏み換え動作調整法-
Search this article
Description
A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered on arm's manipulation, is discussed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function which consists of the sum of them. Step length and timing of step motion are controlled so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.
Journal
-
- Journal of the Japanese Society for Experimental Mechanics
-
Journal of the Japanese Society for Experimental Mechanics 14 (1), 22-28, 2014
The Japanese Society for Experimental Mechanics
- Tweet
Keywords
Details 詳細情報について
-
- CRID
- 1390001205187906048
-
- NII Article ID
- 130004489842
-
- NII Book ID
- AA11822914
-
- ISSN
- 18844219
- 13464930
-
- NDL BIB ID
- 025492389
-
- Text Lang
- en
-
- Data Source
-
- JaLC
- NDL
- CiNii Articles
-
- Abstract License Flag
- Disallowed