書誌事項
- タイトル別名
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- Motion Generation of Emergency Stop at Double Support Phase for Humanoid Robot by Pole Assignment
- キョクハイチホウ ニ ヨル ヒューマノイド ロボット ノ リョウキャクキ ニ オケル キンキュウ テイシ ドウサ セイセイ
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抄録
A motion planner of emergency stop must make an operating humanoid robot to a stationary state from the emergency signal. It plays an important role in prevention of falling over because humanoid robots fall over easily. Immediately after the emergency signal, the emergency stop motion must be generated in real-time. We model a humanoid robot as a simple dynamic system consists of the ZMP (Zero-Moment Point) and the COG (Center of Gravity) as its states. The emergency stop motion is generated by a state feedback. We determine optimal feedback gains in terms of the initial conditions and the pole assignment. The proposed method realizes a reliable emergency stop with low computational cost. Furthermore, it can easily predict the possibility of the successful emergency stop at any time. The validity of the proposed method is confirmed by some experiments using humanoid robot HRP-2.
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 26 (4), 341-350, 2008
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
- 1390282679702396928
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- NII論文ID
- 10021142430
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 9513075
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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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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可