書誌事項
- タイトル別名
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- Control of Walking Robots by Manipulating the Zero Moment Point.
- ゼロモーメントテン ノ ソウサ ニ ヨル ホコウ ロボット ノ セイギョ
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説明
This paper proposes a control method for walking robots by manipulating the zero moment point of the motion. The control law is developed based on a simple model, in which motion of a point mass in a sagital plane is governed by the gravitation and reaction force from the ground. Stability of the system under the control is analyzed by using the state plots of the motion trajectory.<BR>The objective of the control method is to control the balance of the robot without depending on the strict tracking control, which is required, in conventional methods, in order to prevent the robot from falling down.
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 18 (3), 359-365, 2000
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
- 1390282679704030464
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- NII論文ID
- 10004733476
- 10013271620
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5352923
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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
