書誌事項
- タイトル別名
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- Controller Decomposition and Combination Design of Body/Motion Elements based on Orbit Attrator
- キドウ アトラクタ ニ モトズク コントローラ ノ シンタイ ウンドウ ヨウソ エ ノ ブンカイ ト ケツゴウ ニ ヨル ウンドウソウハツ
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抄録
Robot control systems consist of a feedback controller and reference motion pattern. They are designed based on robot dynamics and coupled with each other. So far, we have proposed controller design method based on orbit attractor of nonlinear dynamics. Because the controller yields one motion for one robot, we can assume that the controller includes information of motion and body elements. If those elements can be decomposed from the controller, a new controller will be easily designed by combination of the these elements. In this paper, we propose a motion and body elements design method with Lagrange's method of undetermined multipliers based on robot dynamics, and combination design method of the new controller using the elements. Effectiveness of the proposed method is evaluated by experiments with tapping dance robots.
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 28 (6), 715-722, 2010
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
- 1390282679703969152
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- NII論文ID
- 10026495975
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10778709
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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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- 使用不可