書誌事項
- タイトル別名
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- Robust Walking Control of Humanoids on Unknown Rough Terrain via Short Cycle Motion Generation Using Absolute Position Estimates
- スイテイ ゼッタイ ウンドウ ジョウタイ オ シテン ト スル タンシュウキ キドウ セイセイ オ モチイタ ヒューマノイド ノ フセイチ テキオウ ホコウ セイギョ
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抄録
This paper presents a novel robust framework for online walking control that can handle unknown terrain. The actual motion of the robot in the absolute coordinate system is estimated and used as the initial conditions of short cycle online walking pattern generation in the framework so that the walking pattern generation is put into the feedback loop of the balance maintenance of the actual walking. We used attitude sensor system for estimating the absolute motion, and the walking patterns are generated at 20[ms] cycle by using full body dynamic model. Since the initial conditions are decided from the estimated actual posture, the pattern generated in each cycle is discontinuous to the one generated in the previous cycle. Therefore, a local sensor feedback controller is developed that can execute discontinuous segments of the trajectory and control the ground reaction force. Damping control of the foot position by using position-controlled leg joints is adopted to attain the desired ground reaction force. In addition, damping control of the torso inclination is implemented in the local sensor feedback to suppress the divergence of the torso motion from that commanded in the absolute coordinate system. The proposed framework is implemented on the full-size humanoid HRP-2, and validated through the experiments including walking on many types of unknown terrain with up to 10 degrees slope uncertainty and over 20[mm] in height uncertainty.
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 29 (1), 111-121, 2011
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
- 1390282679701781632
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- NII論文ID
- 10027648650
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10956845
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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
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- 抄録ライセンスフラグ
- 使用不可