書誌事項
- タイトル別名
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- Teaching and Programing for Robots. Realtime Balance Compensation for Dynamic Motion of Full-Body Humanoid Standing on One Leg.
- ニンゲンガタ ロボット ノ カタアシ リッキャク ドウサ ニ オケル ゼンシン オ モチイタ ジツジカンドウ バランス ホショウ
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抄録
We have developed a balance compansating method for dynamic motions of a full-body humanoid standing on one leg. This method could compensate tri-axial moments in any motions, using all joints of body in real-time. In this method, costraint conditions for stable motion were calculated by using physical 3D model of the robot, and the output motion was determined by solving an optimization problem so that the output should be closest to the input under the constraints. The proposed method had high generality because of independence of joints arrangement of robot. This paper describes the algorithm of the method and an experiments applied on the 16D. O. F. humanoid in kick motion.
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 17 (2), 268-274, 1999
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
- 1390282679703446912
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- NII論文ID
- 10002865738
- 10004729974
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4679161
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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