Control of Somersault and Ttwist Ski Robot on Wireless Communication

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Other Title
  • 723 無線通信による宙返りスキーロボットの制御

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Description

In this paper, motion planning and development of a aerial ski robot performing somersault and twist is described. The aerial ski robot becomes a noholonomic system with drift terms because of the conservation law of the angular momentum and initial angular momentum. In the motion of the ski robot, "Fourie Basis Algorithm (FBA)" based on the optimal control theory is applied. The experiment making the ski robot perform somersault and twist according to the optimal joint trajectory was carried out and the feasibility was shown.

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Details 詳細情報について

  • CRID
    1570572702215477632
  • NII Article ID
    110002482744
  • NII Book ID
    AA11901770
  • ISSN
    13480235
  • Text Lang
    ja
  • Data Source
    • CiNii Articles

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