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- 内田 洋彰
- 木更津工業高等専門学校
書誌事項
- タイトル別名
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- Posture Control of Six-Legged Robot in Consideration of Actuator Dynamics(Mechanical Systems)
- アクチュエータのダイナミクスを考慮した6脚歩行ロボットの姿勢制御
- アクチュエータ ノ ダイナミクス オ コウリョシタ 6キャク ホコウ ロボット ノ シセイ セイギョ
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抄録
It is desirable to establish a posture control method considering the dynamics of the actuator. In the present study, as a model considering the dynamics of the actuator, we constructed a mathematical model in which inputs were the driving torque of the thigh links in the supporting legs and the outputs were the height of the body, the pitching angle, and the rolling angle. The optimal servo control system was designed for this model. As a result of 3D simulation, the proposed control method showed a good following performance to the periodical references of the pitching and rolling angle compared with the control method not considering actuator dynamics. And, in the case of following the periodical references of the body posture, experimental results were almost coincident with 3D simulation results.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 76 (772), 3680-3688, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206387708800
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- NII論文ID
- 110008006882
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 10941229
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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
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