書誌事項
- タイトル別名
-
- Real-Time Step Length Control Method for a Biped Robot
- 2ソク ホコウ ロボット ノ ジツジカン ホハバ セイギョホウ
この論文をさがす
説明
In this paper, the real-time step length control method for a biped robot is proposed. In human environment, it is necessary for a biped robot to change its gait on real-time since it is required to walk according to situations. By use of the proposed method, the center-of-gravity trajectory and swing leg trajectory were generated on real-time with that its command value is the step length. For generating the center-of-gravity trajectory, we develop Linear Inverted Pendulum Mode and additionally consider walking stability by ZMP. In order to demonstrate the proposed method, the simulation and experiment of a biped walk is performed.
収録刊行物
-
- 電気学会論文誌D(産業応用部門誌)
-
電気学会論文誌D(産業応用部門誌) 125 (1), 32-37, 2005
一般社団法人 電気学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679635242752
-
- NII論文ID
- 10014100066
-
- NII書誌ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL書誌ID
- 7206545
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可