Torque Pattern Generation Towards the Maximum Jump Height
Proceedings - IEEE International Conference on Robotics and Automation Volume 2006
Page 1096-1101
published_at 2006
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Title ( eng ) |
Torque Pattern Generation Towards the Maximum Jump Height
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Creator |
Higashimori Mitsuru
Harada Manabu
Kaneko Makoto
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Source Title |
Proceedings - IEEE International Conference on Robotics and Automation
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Volume | 2006 |
Start Page | 1096 |
End Page | 1101 |
Abstract |
This paper discusses jumping pattern generation for a serial link robot in order to maximize its jump height under torque limitation. By applying a genetic algorithm (GA) for determining torque assignment, we obtain various jumping patterns with respect to the torque limitation for a fixed mass of the robot. With the increase of the torque limitation, doubleleg based jump, single-leg based jump, and spring-type jump are generated for achieving the largest jump height. Under an additional joint angle limitation, we also obtain an interesting solution where one end of the link is first lifted up and the other end finally kicks the ground strongly.
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Language |
eng
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Resource Type | conference paper |
Publisher |
IEEE
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Date of Issued | 2006 |
Rights |
Copyright (c) 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted componet of this word in other works must be obtained from the IEEE.
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Publish Type | Version of Record |
Access Rights | open access |
Source Identifier |
[ISSN] 1050-4729
[DOI] 10.1109/ROBOT.2006.1641856
[NCID] BA78856954
[DOI] http://dx.doi.org/10.1109/ROBOT.2006.1641856
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