書誌事項
- タイトル別名
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- Development of Waterproof Suit for Life-sized Humanoid and Walking Control in Water using Online Buoyancy Estimation and Footstep Modification
- トウシンダイ ヒューマノイドヨウ ボウスイ スーツ ノ カイハツ ト オンライン フリョク スイテイ オヨビ チャクチ イチ シュウセイ ニ ヨル スイチュウ ホコウ セイギョ
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<p>In this paper, we develop a waterproof suit for life-sized humanoid robots and propose a walking control method considering reaction forces from water for extending the region where the robots can move. The robots that wear a removable waterproof suit are easier to maintain and more versatile than the robots whose each component is manufactured to be waterproof. Unlike on land, humanoid robots are influenced mainly by the two forces due to water: buoyancy and drag. We estimate buoyancy online using force sensors at the ankles and consider the estimated buoyancy when generating a walking motion. The robot modifies footsteps in order to deal with large disturbances including drag force. We verify the effectiveness of the proposed methods through an experiment in which a life-sized humanoid robot walks down and up stairs, and walks fast in water. </p>
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 37 (5), 427-437, 2019
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
- 1390845713076450176
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- NII論文ID
- 130007663971
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 029801532
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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
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可